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Arduinonanofuzzypid

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Daniel Villahermosa
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12 views5 pages

Arduinonanofuzzypid

Uploaded by

Daniel Villahermosa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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#include <QTRSensors.

h>

#include <PID_v1.h>

// Motor driver pins

Const int PWM_A = 5;

Const int PWM_B = 10;

Const int IN1 = 6;

Const int IN2 = 7;

Const int IN3 = 9;

Const int IN4 = 8;

Const int stby = 12;

#define Sensorcount 8

#define EMITTER_PIN 13

Const int IndicatorLed = 13;

// QTR-8RC sensor array

QTRSensorsRC qtrrc((unsigned char[]) {A0, A1, A2, A3, A4, A5, 3, 4},
Sensorcount, EMITTER_PIN);

Unsigned int sensorValues[8];

// PID constants

Double Kp = 1.0, Ki = 0.0, Kd = 0.0;

Double setpoint = 3500; // Middle of the line

Double input, output;


// PID object

PID myPID(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);

Void setup() {

// Motor pins

pinMode(IndicatorLed, OUTPUT);

pinMode(PWM_A, OUTPUT);

pinMode(PWM_B, OUTPUT);

digitalWrite(IndicatorLed, HIGH);

pinMode(IN1, OUTPUT);

pinMode(IN2, OUTPUT);

pinMode(IN3, OUTPUT);

pinMode(IN4, OUTPUT);

pinMode(stby,OUTPUT);

digitalWrite(stby, HIGH);

// Initialize PID

For (int I = 0; I < 200; i++)

Delay(5);

myPID.SetMode(AUTOMATIC);

myPID.SetOutputLimits(-255, 255);
}

Void loop() {

// Read sensor values and compute line position

digitalWrite(stby,HIGH);

int position = qtrrc.readLine(sensorValues);

// Calculate error

Input = position;

// Run PID loop

myPID.Compute();

// Fuzzy adjustments to PID parameters (example logic)

If (abs(setpoint – input) < 100) {

// Line is close to the center

Kp = 0.5;

Ki = 0.2;

Kd = 0.1;

} else if (abs(setpoint – input) < 500) {

// Line is moderately off-center

Kp = 1.0;

Ki = 0.5;

Kd = 0.3;

} else {

// Line is far off-center

Kp = 2.0;
Ki = 1.0;

Kd = 0.5;

// Adjust PID parameters based on fuzzy logic

myPID.SetTunings(Kp, Ki, Kd);

// Control motors based on PID output

Int motorSpeedA = 255 – output;

Int motorSpeedB = 255 + output;

// Ensure motor speeds are within bounds

motorSpeedA = constrain(motorSpeedA, 0, 255);

motorSpeedB = constrain(motorSpeedB, 0, 255);

// Set motor directions

If (motorSpeedA > 0) {

analogWrite(PWM_A, motorSpeedA);

digitalWrite(IN1, HIGH);

digitalWrite(IN2, LOW);

} else {

analogWrite(PWM_A, -motorSpeedA);

digitalWrite(IN1, LOW);

digitalWrite(IN2, HIGH);

If (motorSpeedB > 0) {
analogWrite(PWM_B, motorSpeedB);

digitalWrite(IN3, HIGH);

digitalWrite(IN4, LOW);

} else {

analogWrite(PWM_B, -motorSpeedB);

digitalWrite(IN3, LOW);

digitalWrite(IN4, HIGH);

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