#include "main.h" #include "headfile.h" unsigned int adc_value[5]; int error[2]; int previous_error = 0; int integral = 0; float kp = 1.1; float ki = 0.2; float kd = 0.5; unsigned int left_motor_duty; unsigned int right_motor_duty; unsigned int motor_duty_center = 3000; int main(void{ car_init(); while(1) { adc_value[0] = adc_get(ADC0, ADC_CH_10); adc_value[1] = adc_get(ADC0, ADC_CH_11); adc_value[2] = adc_get(ADC0, ADC_CH_12); adc_value[3] = adc_get(ADC0, ADC_CH_13); adc_value[4] = adc_get(ADC0, ADC_CH_15); car_race(); } } void car_race() { error[0] = adc_value[0] - adc_value[4]; int derivative = error[0] - previous_error; int speed_c = (int)(error[0] * kp + integral * ki + derivative * kd); left_motor_duty += speed_c; right_motor_duty += speed_c; previous_error = error[0]; integral += error[0]; if(left_motor_duty > 10000) { left_motor_duty = 10000; } else if(left_motor_duty < 0) { left_motor_duty = 0; } if(right_motor_duty > 10000) { right_motor_duty = 10000; } else if(right_motor_duty < 0) { right_motor_duty = 0; } motor_forward(left, left_motor_duty); motor_forward(right, right_motor_duty); }为程序增加环岛算法

#include "main.h"
#include "headfile.h"

unsigned int adc_value[5];

int error[2];
int previous_error = 0;
int integral = 0;

float kp = 1.1;
float ki = 0.2;
float kd = 0.5;

unsigned int left_motor_duty;
unsigned int right_motor_duty;

unsigned int motor_duty_center = 3000;

int main(void){
car_init();

while(1){
adc_value[0] = adc_get(ADC0, ADC_CH_10);
adc_value[1] = adc_get(ADC0, ADC_CH_11);
adc_value[2] = adc_get(ADC0, ADC_CH_12);
adc_value[3] = adc_get(ADC0, ADC_CH_13);
adc_value[4] = adc_get(ADC0, ADC_CH_15);

car_race();
}
}

void car_race(){
error[0] = adc_value[0] - adc_value[4];
int derivative = error[0] - previous_error;

int speed_c = (int)(error[0] * kp + integral * ki + derivative * kd);

// Implement island detection and correction logic
if (adc_value[1] < 2000 && adc_value[2] < 2000 && adc_value[3] < 2000){
// Island detected, turn left
speed_c += 500;
}

left_motor_duty += speed_c;
right_motor_duty += speed_c;

previous_error = error[0];
integral += error[0];

if(left_motor_duty > 10000){
left_motor_duty = 10000;
}
else if(left_motor_duty < 0){
left_motor_duty = 0;
}

if(right_motor_duty > 10000){
right_motor_duty = 10000;
}
else if(right_motor_duty < 0){
right_motor_duty = 0;
}

motor_forward(left, left_motor_duty);
motor_forward(right, right_motor_duty);
}