Tuned PID for LineFollow

Author: WesleyJ-128

FLLMaster/DriveLibraries.py

@@ -10,6 +10,7 @@ class Robot:
     from ev3dev2.button import Button
     from ev3dev2.led import Leds, LED_COLORS, LED_DEFAULT_COLOR, LED_GROUPS, LEDS
     import math
+    import time
 
     def __init__(self, filename):
         from configparser import SafeConfigParser

FLLMaster/Main.py

@@ -13,22 +13,16 @@
 # Write Code Here ----------------------------------------
 
 def left(state):
-    if state:
-        R1.kpLine = R1.kpLine - 0.01
-        print(R1.kpLine)
-
+    pass
 def right(state):
-    if state:
-        R1.kpLine = R1.kpLine + 0.01
-        print(R1.kpLine)
-    
+    pass
 def up(state):
     pass
 def down(state):
     pass
 def enter(state):
     if state:
-        R1.LineFollow(50, 20, True)
+        R1.DriveAtHeading(0, 50, 50, True)
 def backspace(state):
     pass
 

FLLMaster/robot.cfg

@@ -16,13 +16,15 @@ GyroPort=INPUT_2
 InfraredPort=INPUT_4
 TouchPort= 0
 UltrasonicPort=INPUT_3
-kpLine = 0.5
-kiLine = 0.01
-kdLine = 0.5
+kpLine = 0.45
+kiLine = 0.01163
+kdLine = 2.528
 
 [AuxMotors]
 AuxMotor1 = 0
 AuxMotor2 = 0
 
 [Other]
-ForFLL = TRUE
+ForFLL = TRUE
+ku = 0.4
+tu = 60.1923