Hey guys im making eco robot for this years robocon but i need some help with it
check this code of mine and help me to fix it pls pSSS / ASAP :)/
//float Kp=30,Ki=0.0015,Kd=60;
float Kp=30,Ki=0.0015,Kd=80;
float error=0, P=0, I=0, D=0, PID_value=0;
float previous_error=0, previous_I=0;
int sensor[7]={0, 0, 0, 0, 0, 0, 0};
int initial_motor_speed=0;
int lap=0;
int a=0,b=0;
void read_sensor_values(void);
void calculate_pid(void);
void motor_control(void);
double timer=0;
int del=2;
int state=1,pre_state=0;
void setup()
{
pinMode(10,OUTPUT);
pinMode(9,OUTPUT);
pinMode(8,OUTPUT);
Serial.begin(9600);
}
void start(){
if(timer<300){
initial_motor_speed=map(timer,0);
//Kp=30,Ki=0.0015,Kd=80;
Kp=map(timer,0);
//Ki=map(timer,0,300,0.0015,0.0015);
Kd=map(timer,0);
}
else{initial_motor_speed=0; }
}
void loop()
{
start();
read_sensor_values();
calculate_pid();
motor_control();
delay(del);
aldaa();
timer=timer+del;
// if(initial_motor_speed<0
){
// initial_motor_speed=initial_motor_speed+(timer/10);
// }
}
//void left(){
// lap=lap+1;
// digitalWrite(9, LOW);
// digitalWrite(8, HIGH);
// //delay(500);
// analogWrite(6,200);
// analogWrite(11,200);
// delay(300);
// loop();
//}
void aldaa(){
sensor[7]=analogRead(A7);
if(sensor[7]>150){
sensor[7]=1;
}
else{
sensor[7]=0;
}
if(sensor[7]==1){
if(lap<3){
lap=lap+1;
}
else{
stop();
}
}
// if(timer<100){
// initial_motor_speed=0;
// Kp=8,Ki=0.0015,Kd=1;
// }
//
// else if(sensor[7]==1 && sensor[2]==1 || sensor[3]==1 || sensor[4]==1){
// if(initial_motor_speed==0){
// a=a+70
// }
// initial_motor_speed=0;
// Kp=30,Ki=0.0015,Kd=60;
// a=a-70
// //a=a-70
// }
// else {
// if(initial_motor_speed==0){
// a=a-70
// }
// initial_motor_speed=0;
// Kp=8,Ki=0.0015,Kd=1;
// }
}
void stop(){
digitalWrite(8, LOW);
digitalWrite(9, LOW);
delay(1000000);
}
void read_sensor_values()
{
sensor[0]=analogRead(A0);
sensor[1]=analogRead(A1);
sensor[2]=analogRead(A2);
sensor[3]=analogRead(A3);
sensor[4]=analogRead(A4);
sensor[5]=analogRead(A5);
sensor[6]=analogRead(A6);
for(int k=0;k<7;k++){
if(sensor[k]>265){
sensor[k]=1;
}
else{
sensor[k]=0;
}
}
// Serial.print(sensor[k]);
//Serial.println();
if((sensor[0]==1)&&(sensor[1]==1)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==1))
// {;PID_value=0; initial_motor_speed=255; delay(1000); initial_motor_speed=120;}
{
}
else if((sensor[0]==0)&&(sensor[1]==1)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==1))
// {;PID_value=0; initial_motor_speed=255; delay(1000); initial_motor_speed=120;}
{
error=0;
if(lap<19){
lap=lap+1;
//pre_state=timer;
}
else{
stop();
}
}
else if((sensor[0]==1)&&(sensor[1]==1)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==0))
// {;PID_value=0; initial_motor_speed=0; delay(1000); initial_motor_speed=0;}
{
error=0;
if(lap<19){
lap=lap+1;
//pre_state=timer;
}
else{
stop();
}
}
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==1))
stop();
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==0))
stop();
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==0))
stop();
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==1))
stop();
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==1))
stop();
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==1))
error=6;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==1)&&(sensor[6]==1))
error=5;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==1)&&(sensor[6]==0))
error=4;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==1)&&(sensor[5]==1)&&(sensor[6]==0))
error=3;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==1)&&(sensor[5]==0)&&(sensor[6]==0))
error=2;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==0)&&(sensor[6]==0))
error=1;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==1)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=0;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-1;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==1)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-2;
else if((sensor[0]==0)&&(sensor[1]==1)&&(sensor[2]==1)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-3;
else if((sensor[0]==0)&&(sensor[1]==1)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-4;
else if((sensor[0]==1)&&(sensor[1]==1)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-5;
else if((sensor[0]==1)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0))
error=-6;
// else if((sensor[0]==1)&&(sensor[1]==1)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==0)&&(sensor[5]==0))
// left();
//else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==1)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1))
// error=-5;
// else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==1)&&(sensor[4]==1)&&(sensor[5]==1))
// error=-8;
else if((sensor[0]==0)&&(sensor[1]==0)&&(sensor[2]==0)&&(sensor[3]==0)&&(sensor[4]==0)&&(sensor[5]==0)&&(sensor[6]==0)){
if(previous_error==6)
error=7;
else if(previous_error==-6)
{
error=-7;
}
}
}
void calculate_pid()
{
P = error;
I = error + previous_I;
D = error-previous_error;
PID_value = (KpP) +KiI+ (Kd*D);
previous_I=I;
previous_error=error;
Serial.print("---");
Serial.print(PID_value); Serial.print(" "); Serial.print(initial_motor_speed); Serial.print(" ");
}
void motor_control()
{
// Calculating the effective motor speed:
int left_motor_speed = initial_motor_speed-PID_value;
a=initial_motor_speed-PID_value;
// The motor speed should not exceed the max PWM value
a=constrain(a,0,255);
analogWrite(2,a); //Left Motor Speed
//following lines of code are to make the bot move forward
/*The pin numbers and high, low values might be different
depending on your connections */
Serial.print(a);
Serial.print(" ");
Serial.println(b);
digitalWrite(8,HIGH);
digitalWrite(9,LOW);
}
Let's start with an obvious problem
Kp=map(timer,0);The map() function takes 5 parameters but you have used only 2
Did you really get this far without sorting out such basic errors ?
:o :o :o :o for real ?
i never noticed that ?!
how can i fix this error pls help
What values are you trying to map() ?
Did you write this code ?
i did
but not dat void start part my friend told me to do it like dat 
Start by deciding what value you want to map to another range then read https://www.arduino.cc/en/Reference/Map
There are other things wrong with the code but start by fixing the use of the map() function.