Ralkaroid
Published © GPL3+

Line Follower Bot using PRIMUS X2 board

Expand your horizons with PRIMUS X2 board and Pluto IDE!

BeginnerWork in progress3 hours63
Line Follower Bot using PRIMUS X2 board

Things used in this project

Hardware components

Drona Aviation PRIMUS X2 board
×1
Maker Line: Simplifying Line Sensor For Beginner
Cytron Technologies Maker Line: Simplifying Line Sensor For Beginner
×1
N20 motors
×1
Ball Castor
×1
Drona Aviation 3.7v Lipo battery 600mah
×1

Software apps and online services

Drona Aviation PlutoIDE

Story

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Code

LFR code

C/C++
// Do not remove the include below
#include "PlutoPilot.h"
#include "API/API-Utils.h"

/**
 * Configures Pluto's receiver to use PPM or default ESP mode; activate the line matching your setup.
 * AUX channel configurations is only for PPM recievers if no custom configureMode function is called this are the default setup
 * ARM mode : Rx_AUX2, range 1300 to 2100
 * ANGLE mode : Rx_AUX2, range 900 to 2100
 * BARO mode : Rx_AUX3, range 1300 to 2100
 * MAG mode : Rx_AUX1, range 900 to 1300
 * HEADFREE mode : Rx_AUX1, range 1300 to 1700
 * DEV mode : Rx_AUX4, range 1500 to 2100
 */

#define M1_FWD ANTICLOCK_WISE
#define M1_REV CLOCK_WISE
#define M2_FWD CLOCK_WISE
#define M2_REV ANTICLOCK_WISE

#define midVal 2000

#define BASE_cmd  1250
#define MAX_cmd 1900

#define KP 0.38 
#define KI 0
#define KD 0.16  

float lastError = 0;
float integral  = 0;

void lfr();

void plutoRxConfig ( void ) {
  // Receiver mode: Uncomment one line for ESP or CAM or PPM setup.
  Receiver_Mode ( Rx_ESP );    // Onboard ESP
  // Receiver_Mode ( Rx_CAM );    // WiFi CAMERA
  // Receiver_Mode ( Rx_PPM );    // PPM based
}

// The setup function is called once at Pluto's hardware startup
void plutoInit() {
  //setUserLoopFrequency(1);
  Peripheral_Init(ADC_1);
  Motor_Init(M1);
  Motor_Init(M2);
}

// The function is called once before plutoLoop when you activate Developer Mode
void onLoopStart ( void ) {
  // do your one time stuffs here
}

// The loop function is called in an endless loop
void plutoLoop () {
  //Monitor_Println("Sensor_Value: " , Peripheral_Read(ADC_1));
  lfr();
}

// The function is called once after plutoLoop when you deactivate Developer Mode
void onLoopFinish ( void ) {
  // do your cleanup stuffs here
}

void setMotor(bidirectional_motor_e motor, uint16_t cmd ){
  cmd = constrain(cmd, 0, MAX_cmd);
  if (motor == M1){
    if ( cmd >= 1000 ) {
    Motor_SetDir ( M1, M1_FWD );
    Motor_Set ( M1, cmd );
  } else {
    Motor_SetDir ( M1, M1_REV );
    Motor_Set ( M1, (2000 - cmd) );
  }
  } else if(motor == M2){
    if ( cmd >= 1000 ) {
    Motor_SetDir ( M2, M2_FWD );
    Motor_Set ( M2, cmd );
  } else {
    Motor_SetDir ( M2, M2_REV );
    Motor_Set ( M2, (2000 - cmd));
  }
  }
}

void lfr(){
  int16_t error = - (Peripheral_Read(ADC_1) - 1925);
  Monitor_Println("Error Value: ", error);
  
  if(error >= 1700 || error <= -1700){
    setMotor(M1, 1000); //motor stop if error is too high, to avoid damage to the motors
    setMotor(M2, 1000); //motor stop if error is too high, to avoid damage to the motors
  }
  else{
    //Monitor_Println("Error Value: ", error);
  integral += error;
  integral = constrain (integral, -100, 100);

  float derivative = error - lastError;
  float pid = (KP * error) + (KI * integral) + (KD * derivative);

  lastError = error;

  int leftSpeed  = BASE_cmd - pid;
  int rightSpeed = BASE_cmd + pid;

  setMotor(M1, leftSpeed);
  setMotor(M2, rightSpeed);
  }

PlutoLFR

Github repository consisting of code for line folower bot

Pluto_hybrid

Run this initially to check motor functioning

Credits

Ralkaroid
1 project • 0 followers
Passionate about Technology!

Comments

Related channels and tags
  • Cytron Technologies
  • Drona Aviation
  • Robotics
  • Robotics