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Line_Following_Robot_Using_PID
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#include <TimerOne.h>
// left
#define ENA 3
#define INa1 4
#define INa2 5
//right
#define INb1 7
#define INb2 6
#define ENB 11
//
int sensor0 = A0; // Left most sensor
int sensor1 = A1;
int sensor2 = A2;
int sensor3 = A3; // Right most sensor
int sensor4 = A4;
unsigned int counter1 = 0;
unsigned int counter2 = 0;
#define rightMaxSpeed 66
#define leftMaxSpeed 66
//PID
float Kp=5,Ki=0.000,Kd=50;
float error = 0, P = 0, I = 0, D = 0, PID_value = 0;
float previous_error = 0, previous_I = 0;
int sensor[5] = {0, 0, 0, 0, 0};
float tests = 0;
// velocity
int initial_motor_speed =80;
int Stop = 0;
int count=0;
void read_sensor_values(void);
void calculate_pid(void);
void motor_control(void);
int LM, RM = 0;
void docount1() // counts from the speed sensor
{
counter1++;
}
void docount2() // counts from the speed sensor
{
counter2++;// increase +1 the counter value
}
void timerIsr()
{
Timer1.detachInterrupt(); //stop the timer
Serial.print(" LEFT Motor Speed: ");
int rotation = (counter2 / 24); // divide by number of holes in Disc
Serial.print(rotation, DEC);
Serial.println(" Rotation per seconds");
Serial.print("RIGHT Motor Speed: ");
int rotation1 = (counter1 / 24); // divide by number of holes in Disc
Serial.print(rotation1, DEC);
Serial.println(" Rotation per seconds");
//to monitor the status of IR-sensors and pwm generated for each motor//////
Serial.print("LEFT SENSOR = ");
Serial.println(sensor[0]);
Serial.print("Sensor 4 = ");
Serial.println(sensor[1]);
Serial.print("MIDDLE SENSOR = ");
Serial.println(sensor[2]);
Serial.print("Sensor 2 = ");
Serial.println(sensor[3]);
Serial.print("RIGHT SENSOR = ");
Serial.println(sensor[4]);
Serial.println("-------------");
Serial.print("Left motor PWM = ");
Serial.println(LM);
Serial.print("Right motor PWM = ");
Serial.println(RM);
Serial.println("");
Serial.println("");
counter1 = 0;
counter2 = 0; // reset counter to zero
Timer1.attachInterrupt( timerIsr ); //enable the timer
}
void setup()
{
pinMode(sensor0, INPUT);
pinMode(sensor1, INPUT);
pinMode(sensor2, INPUT);
pinMode(sensor3, INPUT);
pinMode(sensor4, INPUT);
pinMode(ENA, OUTPUT);
pinMode(ENB, OUTPUT);
pinMode(INa1,OUTPUT);
pinMode(INa2,OUTPUT);
pinMode(INb1,OUTPUT);
pinMode(INb2,OUTPUT);
Serial.begin(9600);
Timer1.initialize(1000000); // set timer for 1sec
attachInterrupt(0, docount2, RISING);
attachInterrupt(1, docount1, RISING); // increase counter when speed sensor pin goes High
Timer1.attachInterrupt( timerIsr ); // enable the timer
Serial.begin(9600); //Enable Serial Communications
}
void loop()
{
//Serial.print("error=");
//Serial.println(error);
//delay(1000);
read_sensor_values();
calculate_pid();
motor_control();
}
void read_sensor_values()
{
sensor[0] = digitalRead(A0); //left
sensor[1] = digitalRead(A1);
sensor[2] = digitalRead(A2); //middle
sensor[3] = digitalRead(A3);
sensor[4] = digitalRead(A4); //right
// turn_right
if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 1))
error = -6.5;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 1) && (sensor[4] == 1))
error = -5.5;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 1) && (sensor[4] == 0))
error = -4.5;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 0))
error = -2;
// on the middle
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3] == 0) && (sensor[4] == 0))
{
error = 0;
}
// turn left
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 0) && (sensor[4] == 0))
error = 2;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
error = 4.5;
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
error = 5.5;
else if ((sensor[0] == 1) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
error = 6.5;
//
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 0) && (sensor[4] == 0))
error = 3;
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 0))
error = 3;
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 1))
error = -3;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 1))
error = -3;
else if ((sensor[0] == 0) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 0))
error = 0;
}
void calculate_pid()
{
P = error;
I = I + error;
D = error - previous_error;
PID_value = (Kp * P) + (Ki * I) + (Kd * D);
//previous_I = error;
previous_error = error;
}
void motor_control()
{
// Calculating the effective motor speed:
int leftMotorSpeed = initial_motor_speed + PID_value;
int rightMotorSpeed = initial_motor_speed - PID_value;
if (rightMotorSpeed > rightMaxSpeed ) rightMotorSpeed = rightMaxSpeed; // prevent the motor from going beyond max speed
if (leftMotorSpeed > leftMaxSpeed ) leftMotorSpeed = leftMaxSpeed; // prevent the motor from going beyond max speed
if (rightMotorSpeed < 0) rightMotorSpeed = 0; // keep the motor speed positive
if (leftMotorSpeed < 0) leftMotorSpeed = 0; // keep the motor speed positive
if (rightMotorSpeed < 45) rightMotorSpeed = 0; // defining lower limits of the pwm generated.
if (leftMotorSpeed < 45) leftMotorSpeed = 0; // defining lower limits of the pwm generated.
//following lines of code are to make the bot move forward
analogWrite(ENA, leftMotorSpeed); //left Motor Speed
analogWrite(ENB, rightMotorSpeed); //right Motor speed
LM = leftMotorSpeed;
RM = rightMotorSpeed;
// depending on your connections */
digitalWrite(INa1, HIGH);
digitalWrite(INa2, LOW);
digitalWrite(INb1, HIGH);
digitalWrite(INb2, LOW);
// to bring back the robot on track based on last error condition //
if ( (error=0) && (sensor[2]=1)) {
analogWrite(ENA, leftMotorSpeed+5); //left Motor Speed
analogWrite(ENB, rightMotorSpeed + 5);
digitalWrite(INa1, HIGH);
digitalWrite(INa2, LOW);
digitalWrite(INb1, HIGH);
digitalWrite(INb2, LOW);
}
else if ((error < 0) && (sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
{
analogWrite(ENA, 63); //LMotor Speed
analogWrite(ENB, 57); //R Motor Speed
digitalWrite(INa1, HIGH);
digitalWrite(INa2, LOW);
digitalWrite(INb1, HIGH);
digitalWrite(INb2, LOW);
}
else if ((error > 0) && (sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
{
analogWrite(ENA, 63); // L Motor Speed
analogWrite(ENB, 57); // R Motor Speed
digitalWrite(INa1, HIGH);
digitalWrite(INa2, LOW);
digitalWrite(INb1, LOW);
digitalWrite(INb2, HIGH);
}
else if ((sensor[0] == 0) && (sensor[1] == 0) && (sensor[2] == 0) && (sensor[3] == 0) && (sensor[4] == 0))
{
analogWrite(ENA, 58); // L Motor Speed
analogWrite(ENB, 65); // R Motor Speed
//depending on your connections */
digitalWrite(INa1, HIGH);
digitalWrite(INa2, LOW);
digitalWrite(INb1, LOW);
digitalWrite(INb2, HIGH);
}
else if ((sensor[0] == 1) && (sensor[1] == 1) && (sensor[2] == 1) && (sensor[3] == 1) && (sensor[4] == 1)) {
analogWrite(ENA, 58); // L Motor Speed
analogWrite(ENB, 65); // R Motor Speed
// depending on your connections */
digitalWrite(INa1, LOW);
digitalWrite(INa2, LOW);
digitalWrite(INb1, LOW);
digitalWrite(INb2, LOW);
}
}