robolib

libraries for robot projects

QTR

Example

• initialize ports :

    gpioPortCfg_t g[8] =
    {
    	  { lineS1_GPIO_Port , lineS1_Pin },
    	  { lineS2_GPIO_Port , lineS2_Pin },
    	  { lineS3_GPIO_Port , lineS3_Pin },
    	  { lineS4_GPIO_Port , lineS4_Pin },
    	  { lineS5_GPIO_Port , lineS5_Pin },
    	  { lineS6_GPIO_Port , lineS6_Pin },
    	  { lineS7_GPIO_Port , lineS7_Pin },
    	  { lineS8_GPIO_Port , lineS8_Pin },
    };
    gpioPortCfg_t q_en = {lineS_en_GPIO_Port, lineS_en_Pin};
    qtr_init(g, &q_en);
    qtr_enable();
  

• call CheckQtr() in a timer(or call manually) with an enough interval(<10ms)

• call GetQtrPosition() to check if sensors are in a line or not

MOTOR

Example

• initialize ports :

    motor_t *motorLeft, *motorRight;
    
    motorLeft = motor_init(motorLeft1_GPIO_Port, motorLeft1_Pin, motorLeft2_GPIO_Port, motorLeft2_Pin, &TIM2->CCR3);
    motorRight = motor_init(motorRight1_GPIO_Port, motorRight1_Pin, motorRight2_GPIO_Port, motorRight2_Pin, &TIM3->CCR2);
  

• usage :

    if(motor_isSpeedLock(motorLeft) == false)
    {
        motor_setSpeed(motorLeft, (motor_getSpeed(motorLeft)*85UL)/100); // just slow down for caution
        motor_speedLock(motorLeft);
    }
  

PID

i can't share final version of the pid code because of competitions. You should tweak the code according to your needs. However you can use it for basic concepts.

Example

	int16_t u;

	u = CalculatePID(QTR_POSITION_MIDDLE, GetQtrPosition());

	if(u < 0)
	{
		motor_runws(motorLeft, FORWARD, 100);
		if(u >= -100)
		{
			motor_runws(motorRight, FORWARD, 100+u);
		}
		else
		{
			motor_runws(motorRight, REVERSE, -u-100);
		}
	}
	else...