long sensors_average;
int sensors_sum;
int position;
long sensors[] = {
0, 0, 0, 0, 0}; // Array used to store 5 readings for 5
int proportional;
int integral;
int derivative;
int last_proportional;
int Kp;
int Ki;
int Kd;
int max_speed;
int left_speed;
int right_speed;
int error_value;
int threshold;
int readings;
void setup()
{
}
void loop()
{
sensors_read(); //Reads sensor values and computes sensor sum and weighted average
pid_calc(); //Calculates position[set point] and computes Kp,Ki and Kd
calc_turn(); //Computes the error to be corrected
//motor_drive(right_speed, left_speed); //Sends PWM signals to the motors
}
void pid_calc()
{
position = int(sensors_average / sensors_sum);
proportional = position - set_point; // Replace set_point by your set point
integral = integral + proportional;
derivative = proportional - last_proportional;
last_proportional = proportional;
error_value = int(proportional * Kp + integral * Ki + derivative * Kd);
}
void sensors_read()
{
sensors_average = 0;
sensors_sum = 0;
for (int i = 0; i < 5; i++)
{
sensors[i] = analogRead(i);
// Readings less than threshold are filtered out for noise
if (sensors[i] < threshold)
sensors[i] = 0;
sensors_average += sensors[i] * i * 1000; //Calculating the weighted mean of the sensor
//readings
sensors_sum += int(sensors[i]); //Calculating sum of sensor readings
}
}
void calc_turn()
{ //Restricting the error value between +256.
if (error_value < -256)
{
error_value = -256;
}
if (error_value > 256)
{
error_value = 256;
}
// If error_value is less than zero calculate right turn speed values
if (error_value < 0)
{
right_speed = max_speed + error_value;
left_speed = max_speed;
}
// If error_value is greater than zero calculate left turn values
else
{
right_speed = max_speed;
left_speed = max_speed - error_value;
}
}
I still get the error message about "set_point" but as the comment says, you are supposed to put your set point there. I don't know what that is.
// map motor poles to Arduino pins
#define motor1pole1 2
#define motor1pole2 3
#define motor2pole1 7
#define motor2pole2 8
// map L293d motor enable pins to Arduino pins
#define enablePin1 9
#define enablePin2 10
#define M1_MAX_SPEED 100
#define M2_MAX_SPEED 100
#define motordelay 30
#define debugmotorsec 3000
long sensors_average;
int sensors_sum;
int position;
long sensors[] = {
0, 0, 0, 0, 0}; // Array used to store 5 readings for 5
int proportional;
int integral;
int derivative;
int last_proportional;
int Kp;
int Ki;
int Kd;
int max_speed;
int left_speed;
int right_speed;
int error_value;
int threshold;
int readings;
int set_point;
int motor_drive;
void setup()
{
// set mapped L293D motor1 and motor 2 enable pins on Arduino to output (to turn on/off motor1 and motor2 via L293D)
pinMode(enablePin1, OUTPUT);
pinMode(enablePin2, OUTPUT);
// set mapped motor poles to Arduino pins (via L293D)
pinMode( motor1pole1 , OUTPUT);
pinMode( motor1pole2, OUTPUT);
pinMode( motor2pole1, OUTPUT);
pinMode( motor2pole2 , OUTPUT);
}
void loop()
{
sensors_read(); //Reads sensor values and computes sensor sum and weighted average
pid_calc(); //Calculates position[set point] and computes Kp,Ki and Kd
calc_turn(); //Computes the error to be corrected
motor_drive(right_speed, left_speed); //Sends PWM signals to the motors
}
void pid_calc()
{
position = int(sensors_average / sensors_sum);
proportional = position - set_point; // Replace set_point by your set point
integral = integral + proportional;
derivative = proportional - last_proportional;
last_proportional = proportional;
error_value = int(proportional * Kp + integral * Ki + derivative * Kd);
}
void sensors_read()
{
sensors_average = 0;
sensors_sum = 0;
for (int i = 0; i < 5; i++)
{
sensors[i] = analogRead(i);
// Readings less than threshold are filtered out for noise
if (sensors[i] < threshold)
sensors[i] = 0;
sensors_average += sensors[i] * i * 1000; //Calculating the weighted mean of the sensor
//readings
sensors_sum += int(sensors[i]); //Calculating sum of sensor readings
}
}
void calc_turn()
{ //Restricting the error value between +256.
if (error_value < -256)
{
error_value = -256;
}
if (error_value > 256)
{
error_value = 256;
}
// If error_value is less than zero calculate right turn speed values
if (error_value < 0)
{
right_speed = max_speed + error_value;
left_speed = max_speed;
}
// If error_value is greater than zero calculate left turn values
else
{
right_speed = max_speed;
left_speed = max_speed - error_value;
}
}
sketch_feb13a.ino: In function 'void loop()':
sketch_feb13a:55: error: 'motor_drive' cannot be used as a function
Not to the compiler it doesn't.
If ever I see the error message "stray ''...", I can put a pretty certain bet that the code has been copied from a website.
I get suspicious when a line says something about a stray "" when I don't see any of them. Then I look at the punctuation in the line. As a last resort, I would retype the whole thing.
That evil symbol! OP must have copied and pasted from some webpage maybe with different character coding.
OP,
I think frankly you should go through basic arduino and c tutorials. You don't seem to understand programming and yet want to do a project that needs some that understanding. Learn the basic first. We can help you write some code, correct mistakes, but you have to understand your (or what you found) code first.
xulingxuling23:
yeah i want both motors run sir and i make a functian and ^^ no errors thx sir
Do you know how to make one motor run, either way will do to start with ?
You are probably using a motor shield (which one ?) Are there any example programs for it ?
xulingxuling23:
yeah i want both motors run sir and i make a functian and ^^ no errors thx sir
Do you know how to make one motor run, either way will do to start with ?
You are probably using a motor shield (which one ?) Are there any example programs for it ?
#define motor1pole1 2
#define motor1pole2 3
#define motor2pole1 7
#define motor2pole2 8
// map L293d motor enable pins to Arduino pins
#define enablePin1 9
#define enablePin2 10
#define M1_MAX_SPEED 100
#define M2_MAX_SPEED 100
#define motordelay 30
#define debugmotorsec 3000
void setup() {
Serial.begin(9600);
// set mapped L293D motor1 and motor 2 enable pins on Arduino to output (to turn on/off motor1 and motor2 via L293D)
pinMode(enablePin1, OUTPUT);
pinMode(enablePin2, OUTPUT);
// set mapped motor poles to Arduino pins (via L293D)
pinMode( motor1pole1 , OUTPUT);
pinMode( motor1pole2, OUTPUT);
pinMode( motor2pole1, OUTPUT);
pinMode( motor2pole2 , OUTPUT);
motorspeed(0, 0);
}
int mspeed = 100; // pick a starting speed up to 255
void loop() {
// set speed of motor 1 and 2 to same speed
motorspeed(mspeed, mspeed);
// spin motor 1 only in one direction
Serial.print("MOTOR 1 FORWARD @ SPEED: ");
Serial.println(mspeed);
motorforward(1);
delay(debugmotorsec);
motorstop(1);
// spin motor 2 only in one direction
Serial.print("MOTOR 2 FORWARD @ SPEED: ");
Serial.println(mspeed);
motorforward(2);
delay(debugmotorsec);
motorstop(2);
// spin motor 1 only in opposite direction
Serial.print("MOTOR 1 BACK @ SPEED: ");
Serial.println(mspeed);
motorback(1);
delay(3000);
motorstop(1);
// spin motor 2 only in opposite direction
Serial.print("MOTOR 2 BACK @ SPEED: ");
Serial.println(mspeed);
motorback(2);
delay(debugmotorsec);
motorstop(2);
// stop both motors 1 and 2
Serial.println("BOTH MOTORS STOP FOR 2 SEC.");
motorstop(1);
motorstop(2);
delay(2000);
// spin both motors in one direction
Serial.print("BOTH MOTORS FORWARD @ SPEED: ");
Serial.println(mspeed);
motorforward(1);
motorforward(2);
delay(debugmotorsec);
// stop both motors
Serial.println("BOTH MOTORS STOP FOR 2 SEC.");
motorstop(1);
motorstop(2);
delay(2000);
// spin both motors in opposite direction
Serial.print("BOTH MOTORS BACK @ SPEED: ");
Serial.println(mspeed);
motorback(1);
motorback(2);
delay(debugmotorsec);
// stop both motors
Serial.println("BOTH MOTORS STOP FOR 2 SEC.");
motorstop(1);
motorstop(2);
delay(2000);
// spin both motors but in opposite directions
Serial.print("MOTOR1 FORWARD | MOTOR2 BACK @ SPEED: ");
Serial.println(mspeed);
motorforward(1);
motorback(2);
delay(debugmotorsec);
// stop both motors
Serial.println("BOTH MOTORS STOP FOR 2 SEC.");
motorstop(1);
motorstop(2);
delay(2000);
// spin both motors in the other opposite direction
Serial.print("MOTOR1 BACK | MOTOR2 FORWARD @ SPEED: ");
Serial.println(mspeed);
motorback(1);
motorforward(2);
delay(debugmotorsec);
// stop both motors
Serial.println("BOTH MOTORS STOP FOR 2 SEC.");
motorstop(1);
motorstop(2);
delay(2000);
mspeed += 50; // add 50 to speed of motor spin. Max speed 255
// set speed of motor 1 and 2 to same new speed
motorspeed(mspeed,mspeed);
}
// MOTOR FUNCTIONS
void motorstop(int motornum){
delay(motordelay);
if (motornum == 1) {
digitalWrite(motor1pole1, LOW);
digitalWrite(motor1pole2, LOW);
}
else if (motornum == 2) {
digitalWrite(motor2pole1, LOW);
digitalWrite(motor2pole2, LOW);
}
delay(motordelay);
}
void motorforward(int motornum){
if (motornum == 1) {
digitalWrite(motor1pole1, HIGH);
digitalWrite(motor1pole2, LOW);
}
else if (motornum == 2) {
digitalWrite(motor2pole1, LOW);
digitalWrite(motor2pole2, HIGH);
}
delay(motordelay);
}
void motorback(int motornum){
if (motornum == 1) {
digitalWrite(motor1pole1, LOW);
digitalWrite(motor1pole2, HIGH);
}
else if (motornum == 2) {
digitalWrite(motor2pole1, HIGH);
digitalWrite(motor2pole2, LOW);
}
delay(motordelay);
}
void motorspeed(int motor1speed, int motor2speed) {
if (motor1speed > M1_MAX_SPEED ) motor1speed = M1_MAX_SPEED; // limit top speed
if (motor2speed > M2_MAX_SPEED ) motor2speed = M2_MAX_SPEED; // limit top speed
if (motor1speed < 0) motor1speed = 0; // keep motor above 0
if (motor2speed < 0) motor2speed = 0; // keep motor speed above 0
analogWrite(enablePin1, motor1speed);
analogWrite(enablePin2, motor2speed);
}
here the code is succes working but i cant use on my PID program
here the code is succes working but i cant use on my PID program
Since you didn't volunteer, I'll drag it out of you. Why can't you? PID computes an output based on an input and a setup, with the objective of moving the input closer to the setpoint, by changing the output.
If the setpoint is the desired speed, and the input is the actual speed, the output would be the required change in speed/pwm setting/etc. to get the current speed closer to the desired speed.
It isn't clear what your inputs, outpoints, or setpoints would be, though.