Thread: Line Following with PID
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Unread 09-11-2006, 02:44
CircularLogic CircularLogic is offline
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Line Following with PID
Has anyone ever tried writing line following code using a PID style control system.

Right now I am using Lego Mindstorms, programming it with NQC (basically C for mindstorms with a few built in functions), and I am only allowed to use two light sensors.

Right now I am sucessfully able to drive my motors by having one function that rapidly turns them on and off for a certain period of time, which is passed to the function (in 10's of milliseconds). I take the threshold value of the black material and from it I subtract the current sensor value. I multiply that value by a gain and voila. That works well.

But then I tried to implement a Derivative control and everything went beserk.

Anyone ever do this or have any type of experience with it?
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Gotta hand it to the straight line autonomous mode, the most effective defense out there.

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