fixed Bug

UlmerMan · Feb 10, 2023 · 5b8b8a2 · 5b8b8a2
1 parent 99607ab
commit 5b8b8a2
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Showing 5 changed files with 15 additions and 5 deletions.
diff --git a/AUTHORS b/AUTHORS
@@ -1 +1,2 @@
 Manuel Ulmer
+Marko Mojovic
diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=Elegoo
-version=1.1.0
+version=1.2.0
 author=Manuel Ulmer
 url=https://git.aerospace-lab.de/manuel.ulmer/ELEGOO-Smart-Robot-Car-Kit
 maintainer=Manuel Ulmer

diff --git a/src/Elegoo.h b/src/Elegoo.h
@@ -61,6 +61,7 @@ class elegoo
     void  stop();
     long  getDistance();
     long  getDistance(int angle);
+    long  getDistanceReturn(int angle);
     void  forwardT(int speed, float time);
     void  backT(int speed, float time);
     void  leftT(int speed, float time);
@@ -77,7 +78,7 @@ class elegoo
     char getBTdec();
     void delay(unsigned long time);
     void remote();
-    float regler(float ist, float soll, int p_faktor);
+    float regler(float ist, float soll, int p_faktor, float d_faktor, float i_faktor);
     void IRbegin();
     void keepDistance();
     void enableKeepDistance();

diff --git a/src/Sensors.cpp b/src/Sensors.cpp
@@ -20,7 +20,7 @@ long elegoo::getDistance(int angle) {
 }
 
 long elegoo::getDistanceReturn(int angle){
-
+  
 }
 
 int elegoo::getLightR(){

diff --git a/src/movement.cpp b/src/movement.cpp
@@ -1,5 +1,7 @@
 #include "movement.h"
 
+float i_val, lastDifference;
+
 /*define forward function*/
 void elegoo::forward(int speed){
   analogWrite(ENA,speed);
@@ -83,8 +85,14 @@ void elegoo::rightT(int speed, float time){
 }
 
 
-float elegoo::regler(float ist, float soll, int p_faktor){
+float elegoo::regler(float ist, float soll, int p_faktor, float d_faktor, float i_faktor){
   float abweichung = soll - ist;
-  float ergebnis  = (abweichung * p_faktor);
+
+  float d_val = abweichung - lastDifference;
+
+  float ergebnis = (abweichung * p_faktor) + (d_val * d_faktor)+(i_val*i_faktor);
+
+  lastDifference = abweichung;
+  i_val= i_val + lastDifference;
   return ergebnis;
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -20,7 +20,7 @@ long elegoo::getDistance(int angle) { @@
     }
     long elegoo::getDistanceReturn(int angle){
     }
     int elegoo::getLightR(){
@@ Expand Down @@