removed delay, tuned constants for smooth line follow

robrighter · May 26, 2012 · c8008fc · c8008fc
1 parent 2945c5d
commit c8008fc
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Showing 2 changed files with 6 additions and 7 deletions.
diff --git a/line-follower.c b/line-follower.c
@@ -15,17 +15,17 @@ int integral = 0;
 
 //use these functions to tune the constants
 int apply_kp(int p){
-	return p/22;
+	return p/10;
 }
 
 int apply_kd(int d){
 	//For initial tuning we set the constant to 0
-	return d/4;
+	return d;
 }
 
 int apply_ki(int i){
 	//For initial tuning we set the constant to 0
-	return i/20000;
+	return i/6000;
 }
 
 int get_value_within_max(int value, int max){

diff --git a/main.c b/main.c
@@ -11,17 +11,16 @@ int main()
 	while(1){
 		while(!button_is_pressed(BUTTON_B)){}
 		wait_for_button_release(BUTTON_B);
+		delay_ms(1000);
 
 		pololu_3pi_init(2000);
 		calibrate_for_line();
 
 		reset_line_follower();
 
 		//just follow the line for a little while while testing
-		int counter = 0;
+		while(1){
-		while(counter++ < 330){
+			set_motors_by_position(140,read_and_display_sensor_data());	
-			set_motors_by_position(110,read_and_display_sensor_data());
-			delay_ms(100);	
 		}
 		set_motors(0,0);
 	}