2021-11-08 15:20:16 +00:00
|
|
|
#include <Servo.h>
|
|
|
|
#include <movingAvg.h>
|
|
|
|
|
|
|
|
movingAvg st(5);
|
|
|
|
Servo steer;
|
|
|
|
|
2021-11-08 15:23:51 +00:00
|
|
|
#define feedback_pin 2
|
|
|
|
#define cmd_pin 10
|
2021-11-08 15:20:16 +00:00
|
|
|
|
2021-11-08 15:23:51 +00:00
|
|
|
float parallax_steer = 1500;
|
2021-11-08 15:20:16 +00:00
|
|
|
float feedback_value = 0;
|
|
|
|
|
2021-11-08 15:23:51 +00:00
|
|
|
const float Kp = 0.8;
|
|
|
|
const float Kd = 0.03;
|
2021-11-08 15:20:16 +00:00
|
|
|
float cumerror = 0;
|
|
|
|
float lasterror = 0;
|
|
|
|
|
|
|
|
unsigned long tparallax = 0;
|
|
|
|
unsigned long tread = 0;
|
|
|
|
|
|
|
|
void setup() {
|
|
|
|
|
|
|
|
st.begin();
|
|
|
|
steer.attach(3, 1000, 2000);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void loop() {
|
|
|
|
|
|
|
|
Serial.begin(57600);
|
|
|
|
|
|
|
|
getcmd(50);
|
|
|
|
updatecmd(200);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
void getcmd(int a) {
|
|
|
|
|
|
|
|
if ((millis()-tread)>=(1000/a)) {
|
|
|
|
parallax_steer = pulseIn(10, HIGH, 2100);
|
|
|
|
}
|
|
|
|
|
|
|
|
if ((parallax_steer <= 999) or (parallax_steer >= 2001)) {
|
|
|
|
parallax_steer = 1500;
|
|
|
|
}
|
|
|
|
|
|
|
|
Serial.println(parallax_steer);
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
void updatecmd(int a) {
|
|
|
|
|
|
|
|
if ((millis()-tparallax)>=(1000/a)) {
|
|
|
|
|
|
|
|
tparallax = millis();
|
|
|
|
|
|
|
|
feedback_value = (((pulseIn(feedback_pin, HIGH, 1200))-30)/1.050);
|
|
|
|
|
|
|
|
//Serial.println(feedback_value);
|
|
|
|
|
|
|
|
if ((feedback_value < 0) or (feedback_value > 2000)) { feedback_value = 500; }
|
|
|
|
|
|
|
|
feedback_value = st.reading(feedback_value);
|
|
|
|
feedback_value = map(feedback_value, 0, 1000, 1000, 2000);
|
|
|
|
|
|
|
|
float error = (parallax_steer - feedback_value);
|
|
|
|
float raterror = ((error-lasterror)/(1/a));
|
|
|
|
float PIDsum = ((Kp*error)+(Kd*raterror));
|
|
|
|
float cmd = 1500 + PIDsum;
|
|
|
|
|
|
|
|
constrain(cmd, 1000, 2000);
|
|
|
|
cmd = map(cmd, 1000, 2000, 85,95);
|
|
|
|
|
|
|
|
lasterror = error;
|
|
|
|
|
|
|
|
steer.write(cmd);
|
|
|
|
|
|
|
|
}
|
|
|
|
}
|