Click the image to download the. From those values the "gray value" is calculated. The higher the motor power level the more difficult it is to follow a line. This controller is a left-hand edge follower and uses the A motor as the left and C motor as the right motor. The light sensor is assumed to be on port 2. The proportionality constant Kp is in the multiplication block and is entered as X the actual value.
The best Kp value will vary depending on the robot's wheels, the range of light values and the height of the light sensor above the mat.
This program works best if the light sensor is between 0. This is a full PID controller for a single light sensor line follower. The line follower code nxt robot pid motors controlled are A and C. In addition to the three K's, the TargLight and TargPower line follower code nxt robot pid need to be entered in their suitcases. The TargLight value is the gray value average of white and black.
The TargPower is the motor power level for both motors when the robot is driving straight. This block could be removed and the gray value entered directly in the TargLight suitcase. The input is the current error and the output is the motor power level correction labeled "PID".
If the calculated power level for a motor is negative then the sign is changed and the power is sent to a MOTOR block set to rotate backwards. The MOTOR block doesn't understand a negative power level as meaning the motor should reverse direction.
The main loop is set for a fixed number of line follower code nxt robot pid. The elapsed time and the number of loops can be used to calculate the loop time dT and is useful when calibrating the PID. The time per loop is about 14 milliseconds.
The Kp, Ki and Kd values are all entered as times bigger than they actually are. For example a Kp of 1. This MyBlock controls the motors. If the follower line follower code nxt robot pid working properly is tuned properly then the beeps should not occur very often. This MyBlock swings the robot's nose through an arc and measures the maximum and minimum light values. Using those values the "gray" level is calculated and returned on the "Result" port.
This block could be removed and the gray value entered directly in the TargLight suitcase of the line follower main routine.
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