我做了一个（非常糟糕的）线路追随者。
这里是一个草图，可以大致了解机器人的形状以及踏板和传感器的位置
[-] 0 0 [-] // 0 = color sensor
[-]------[-] // - = robot body
[-]------[-] // [-] = tank tread
[-] [-]
这是它的作用：
获取红色，绿色和蓝色，取传感器1读数的平均值，对2进行相同的操作
减去以获得价值
此值将通过PID部分
具有计算得出的转向的转向
重复（所有这些都是循环的）
我使用RGB而不是反射强度（通常使用这种强度），因为有时我需要检测传感器下方是否有绿色（如果有，请转弯）。
真正的问题出在转向部分。不幸的是，它只会使电动机加速，这意味着在非常狭窄的转弯中，我们只会失去动力。
最佳地，它应该与另一台电动机（可能是朝另一个方向行驶）进行一些补偿，但是我不确定如何计算电动机的速度，也不确定如何执行此非常严格的线路遵循策略。 / p>
这是代码（我也非常感谢任何有关清理代码的技巧！这是我在C：D中的第一个项目）。我不是要全部阅读（篇幅很长），您也可以只看一下转向功能，然后回到rawFollowLine，这样可以缩短代码。
void rawFollowLine(int speed, float Kp, float Ki, float Kd){
_checkInit();
set_sensor_mode(sn_lx_color, "RGB-RAW");
set_sensor_mode(sn_rx_color, "RGB-RAW");
//printAllSensors();
int wasBlackCounter = 0;
int wasBlack = 0;
int lastBlack = 0;
for (int i = 0; i < 2000; i++)
{
if (isTerminating == 1)
{
killMotors(0);
break;
}
int greenCheck = rawGreenCheck(&wasBlack, &wasBlackCounter, &lastBlack);
if (wasBlack == 1){
wasBlackCounter++;
if (wasBlackCounter > 50){
wasBlackCounter = 0;
wasBlack = 0;
}
}
if (greenCheck == 1)
{
// lx is green
killMotors(1);
usleep(400 * 1000);
drive(200, 70);
waitIfMotorIsRunning();
killMotors(1);
pivotTurn(-90);
}
else if (greenCheck == 2)
{
// rx is green
killMotors(1);
usleep(400 * 1000);
drive(200, 70);
waitIfMotorIsRunning();
killMotors(1);
pivotTurn(90);
}
else if (greenCheck == 3)
{
// both rx and lx are green
killMotors(1);
turn(180);
}
else if (greenCheck == 5)
{
if(lastBlack == 2)
{
lastBlack = 0;
drive(100, -200);
//pivotTurn(50);
}
else if (lastBlack == 1)
{
lastBlack = 0;
drive(100, -200);
//pivotTurn(-50);
} else {
pidLineRaw(speed, Kp, Ki, Kd, &lastBlack);
}
}
else
{
pidLineRaw(speed, Kp, Ki, Kd, &lastBlack);
}
}
killMotors(1);
}
int rawGreenCheck(int *wasBlack, int *wasBlackCounter, int *lastBlack)
{
// Some documentation
// return nums:
// 3 = double green
// 2 = right green
// 1 = left green
// 0 = no green
int lx_red;
int lx_green;
int lx_blue;
int rx_red;
int rx_green;
int rx_blue;
get_sensor_value(0, sn_lx_color, &lx_red);
get_sensor_value(0, sn_rx_color, &rx_red);
get_sensor_value(1, sn_lx_color, &lx_green);
get_sensor_value(1, sn_rx_color, &rx_green);
get_sensor_value(2, sn_lx_color, &lx_blue);
get_sensor_value(2, sn_rx_color, &rx_blue);
//printf("rx_red %d\n", rx_red);
rx_red = (rx_red * rx_ratio_r);
rx_green = (rx_green * rx_ratio_g);
rx_blue = (rx_blue * rx_ratio_b);
//printf("rx_red (again) %d\n", rx_red);
if(
lx_red < 55 &&
lx_green > 90 &&
lx_blue < 55 &&
rx_red < 55 &&
rx_green > 90 &&
rx_blue < 55
)
{
// rx and lx see green
if (*wasBlack == 1)
{
// Apparently we crossed an intersection!
printf("Apparently we crossed an intersection!\n");
// We need to go straight.
*wasBlack = 0;
*wasBlackCounter = 0;
return 0;
}
else
{
return 3;
}
}
else if(lx_red < 55 && lx_green > 90 && lx_blue < 55)
{
// lx sees green
return 1;
}
else if(rx_red < 55 && rx_green > 90 && rx_blue < 55)
{
// rx sees green
return 2;
}
else if(rx_red < 50 && rx_green < 50 && rx_blue < 50 && lx_red < 50 && lx_green < 50 && lx_blue < 50)
{
// rx and lx see black
// this is needed if the intersection has the green tiles after the black line
printf("We are on the line? Is this an intersection?\n");
*wasBlack = 1;
return 0;
}
else if(lx_red < 55 && lx_green < 55 && lx_blue < 55)
{
// lx = right sees black
// this is needed if the intersection has the green tiles after the black line
//printf("We are on the line? Is this an intersection?\n");
killMotor(1, motor[R]);
rotateTillBlack(motor[L], sn_rx_color);
//printf("ASS2\n");
return 0;
}
else if(rx_red < 55 && rx_green < 55 && rx_blue < 55)
{
// rx = left sees black
killMotor(1, motor[L]);
rotateTillBlack(motor[R], sn_lx_color);
//printf("ASS1\n");
return 0;
}
//*lx_color_status = 0;
//*rx_color_status = 0;
*lastBlack = 0;
return 0;
}
void pidLineRaw(int speed, float Kp, float Ki, float Kd, int *lastBlack)
{
int red_lx_color;
int red_rx_color;
int green_lx_color;
int green_rx_color;
int blue_lx_color;
int blue_rx_color;
int lx_color;
int rx_color;
int last_error = 0;
int integral = 0;
int derivative = 0;
//float Kp = 0.1;
//float Ki = 0;
//float Kd = 0;
//set_sensor_mode(sn_lx_color, "COL-REFLECT");
//set_sensor_mode(sn_rx_color, "COL-REFLECT");
get_sensor_value(0, sn_lx_color, &red_lx_color);
get_sensor_value(0, sn_rx_color, &red_rx_color);
get_sensor_value(1, sn_lx_color, &green_lx_color);
get_sensor_value(1, sn_rx_color, &green_rx_color);
get_sensor_value(2, sn_lx_color, &blue_lx_color);
get_sensor_value(2, sn_rx_color, &blue_rx_color);
lx_color = (red_lx_color + green_lx_color+ blue_lx_color)/3;
rx_color = ( (red_rx_color*rx_ratio_r) + (green_rx_color*rx_ratio_g) + (blue_rx_color*rx_ratio_b))/3;
if(*lastBlack == 0)
{
int error = lx_color - rx_color;
integral = integral + error;
derivative = error - last_error;
last_error = error;
int steering_val = (error * Kp) + (integral * Ki) + (derivative * Kd);
// printf("error: %d\nsteering: %d\n",error, steering_val);
move_steering(-steering_val, speed, 1, 0);
} else if (*lastBlack == 1)
{
printf("lx_color_status\n");
move_steering(35, speed, 1, 0);
move_steering(-2, speed, 1, 0);
}
else if (*lastBlack == 2)
{
printf("rx_color_status\n");
move_steering(-35, speed, 1, 0);
move_steering(2, speed, 1, 0);
}
else
{
printf("HMMM: %d\n", *lastBlack);
exit(666);
}
}
static void _getSteeringSpeed(int speed, int *lx_speed, int *rx_speed, int steering)
{
if(steering > 100 || steering < -100)
{
printf("Yo wtf steering is %d\n", steering);
}
else
{
int speed_factor = (50 - abs(steering)) / 50;
*lx_speed = speed;
*rx_speed = speed;
if(steering >= 0)
{
*rx_speed = *rx_speed * speed_factor;
}
else
{
*lx_speed = *lx_speed * speed_factor;
}
}
}
省略了某些部分，是的，不需要它们来解决问题。
我也非常抱歉，因为可能存在未使用的变量等。我正在重构项目，完成后我将更新帖子。
因此，总括来说，我需要确保转向部件正确地转动并沿直线行驶。我怎么做？我编写的代码是否合适？我猜测转向本身可能需要某种反馈回路，以检查其是否在线？