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Builds tagged #arduino

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Aarav KarkiMember

@aarav_builds

Robotics Builds

Three weeks of tuning and my line follower finally does the full track without leaving it once. The trick was dropping the base speed before the sharp turns instead of trying to fix it with a bigger correction. #robotics #linefollower #arduino

arduino

// PID line following — the values that finally worked for me
const float Kp = 0.08, Ki = 0.0002, Kd = 0.9;
int baseSpeed = 140;          // was 200 — too fast for the hairpin

void loop() {
  int error = readLinePosition() - 3500;   // 0..7000, centre = 3500
  integral += error;
  int correction = Kp * error + Ki * integral + Kd * (error - lastError);
  lastError = error;

  // Slow down when we are far off the line; speed up on the straights.
  int speed = baseSpeed - min(abs(error) / 40, 60);
  setMotors(speed + correction, speed - correction);
}

Sneha RaiMember

@sneha_codes

Code & Sketches

Debouncing buttons without delay(), so the rest of the loop keeps running. This replaced about thirty lines of tangled flags in my robot's control code. #code #arduino

arduino

// Non-blocking debounce — no delay(), the loop stays responsive.
class Button {
  uint8_t pin; bool stable = HIGH, last = HIGH; unsigned long changedAt = 0;
public:
  explicit Button(uint8_t p) : pin(p) { pinMode(p, INPUT_PULLUP); }

  // Returns true once per physical press.
  bool pressed() {
    bool now = digitalRead(pin);
    if (now != last) { last = now; changedAt = millis(); }
    if (millis() - changedAt > 25 && now != stable) {
      stable = now;
      return stable == LOW;       // active-low with INPUT_PULLUP
    }
    return false;
  }
};

Builds tagged #arduino

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