자율주행 센서의 안테나 성능 예측 AI 경진대회

알고리즘 | 정형 | 회귀 | 자율주행 | NRMSE

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초음파 센서 자율주행 코드

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2022.08.05 07:18 2,291 Views language

H, 5820) / 58.2 ;
  if(dur==0){
  dur=100;
  }
  //delay(2);
  Q1 = Q1 + (dur - 25);
  Q1 = constrain(Q1, -50, +50);
  float Integral = constrain(Q1, -50, 50);
  //LOW PASS FILTER 미분 제어
  float D2 = dur - 25;
  float diff2 = ((wc * t * D2 + diff1) / (1 + wc * t))-25;
  diff1 = diff2;
  if (dur > 25) {
    Motor(93 * (dur - 25) + 0.001 * Integral + diff2 * 3.7);
  }
  else if (dur < 25) {
    Motor(93  * (dur - 25) + diff2 * 4.15 + 0.01 * Integral);
  }
  else {
    Motor(0);
  }
}
void Motor(int vel) {
  if (vel < 0) {
    vel = -vel;
    if (vel >= 255) {
      vel = 255;
    }
    digitalWrite(12, LOW);
    analogWrite(10, vel);
    digitalWrite(2, HIGH);
    analogWrite(9, vel);
  }
  else if (vel > 0) {
    if (vel > 255) {
      vel = 255;
    }
    digitalWrite(12, HIGH);
    analogWrite(10, vel);
    digitalWrite(2, LOW);
    analogWrite(9, vel);
  }
  else {
    analogWrite(10, 0);
    analogWrite(9, 0);
  }
}