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  • PID CONTROLLER FOR LIGHT SENSOR

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    floliver123
    29 views1 page
    This code uses PID control to drive a motor until a light sensor reaches a target value. It initializes PID constants, then enters a loop that calculates the error, integral, and derivative terms to determine the motor power output needed to minimize the error. The motor power is adjusted each cycle until the error reaches zero, at which point the motor is stopped and the routine ends.

    Original Description:

    A working version of a segway controller used for MINDSTORMS using a light sensor to balance the robot on 2 wheels. It uses a simple PID controller to control the motors based on an error. it's the lines of code for an NXC program. You need BRICXcc to upload to your NXT to work.

    Original Title

    Pidway 1 Robotics Balancing

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    © Attribution Non-Commercial (BY-NC)

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    This code uses PID control to drive a motor until a light sensor reaches a target value. It initializes PID constants, then enters a loop that calculates the error, integral, and derivative terms to determine the motor power output needed to minimize the error. The motor power is adjusted each cycle until the error reaches zero, at which point the motor is stopped and the routine ends.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    29 views1 page

    PID CONTROLLER FOR LIGHT SENSOR

    Uploaded by

    floliver123
    This code uses PID control to drive a motor until a light sensor reaches a target value. It initializes PID constants, then enters a loop that calculates the error, integral, and derivative terms to determine the motor power output needed to minimize the error. The motor power is adjusted each cycle until the error reaches zero, at which point the motor is stopped and the routine ends.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as TXT, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 1

    #define dt 3 float Kp = 25; float Ki = 1; float Kd = 10; int PrevError; long Integral; long Derivative; int Mid; int

    Error; int PWR; task main() { SetSensorLight(IN_3); Off(OUT_A); repeat(3) { PlayToneEx(660,200,4,false); Wait(800); } Mid=SENSOR_3; PlayToneEx(780,200,4,false); while(abs(PWR)<1000) { Error=SENSOR_3-Mid; Integral += Error; Derivative=Error-PrevError; PrevError=Error; PWR=(Kp*Error)+(Ki*Integral)+(Kd*Derivative); OnFwd(OUT_BC,PWR); Wait(dt); } Wait(50); Float(OUT_ABC); }

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