Arduino Library for QTR Reflectance Sensors

Table Of Contents

lastError = error;

// M1 and M2 are base motor speeds. That is to say, they are the speeds the motors should

// spin at if you are perfectly on the line with no error. If your motors are well matched,

// M1 and M2 will be equal. When you start testing your PID loop, it might help to start with

// small values for M1 and M2. You can then increase the speed as you fine-tune your

// PID constants KP and KD.

int m1Speed = M1 + motorSpeed;

int m2Speed = M2 - motorSpeed;

// it might help to keep the speeds positive (this is optional)

// note that you might want to add a similiar line to keep the speeds from exceeding

// any maximum allowed value

if (m1Speed < 0)

m1Speed = 0;

if (m2Speed < 0)

m2Speed = 0;

// set motor speeds using the two motor speed variables above

}

3. PololuQTRSensors Methods & Usage Notes Page 8 of 8