Chapter 19. a PID-controlled LineFollower program
Programming your robot to follow a line is an interesting challenge because there are so many possible solutions, ranging from quite simple to highly complex. You’ve seen a simple three-state controller that works well at slow speeds on a line with gentle curves, and a more complex proportional controller that allows the robot to go faster and make tighter turns. In this chapter, we improve the program further by implementing a full proportional-integral-derivative (PID) control algorithm. Besides adjusting the TriBot’s steering according to its current distance from the line (like our proportional controller), this program also calculates a derivative value, which detects whether the robot is ...
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