The aim of this project was assigning a path to an Ultrasonic Sensor Controlled Robot, detecting flaws in the program and designing a PID controller in order to optimaize its function.
Paths we chose for the Robot are as follow:
- According to the arrows inside the image
- A-B-D-F-G-C-D-E-G-H-I-C-B-C-D-A
- We used trigonometric relations to find the size of angles and lines.
- Angels (Radian), Lines (Meter)
- Change this measurments in the "Robot Movement" part of the code.
- The other parts are related to the robot's controller system and transfer functions.
- Use positive angle for TURNING RIGHT and negative angle for TURNING LEFT.
- In the program, some numbers are seen as coefficients, these numbers are PID coefficients that were calculated during repeated tests as well as manual calculations which improve the robot's performance.
- the MATLAB file is a simulator. Use Arduino file to programm the robot.