Mbot2 Line Follower Code Guide

def set_motor_speeds(self, base_speed, turn_speed): """ Calculate and set left/right motor speeds based on base speed and turn """ # Differential steering left_speed = base_speed + turn_speed right_speed = base_speed - turn_speed # Apply speed limits left_speed = max(-self.MAX_SPEED, min(self.MAX_SPEED, left_speed)) right_speed = max(-self.MAX_SPEED, min(self.MAX_SPEED, right_speed)) # Set motor speeds self.bot.set_left_motor_speed(left_speed) self.bot.set_right_motor_speed(right_speed)

print("\n=== MBot2 Line Follower ===") print("1. Quick start (default settings)") print("2. Run with calibration") print("3. Tune PID values") print("4. Exit") mbot2 line follower code

def stop(self): """Emergency stop - stops both motors""" self.bot.set_left_motor_speed(0) self.bot.set_right_motor_speed(0) print("Motors stopped") Tune PID values") print("4

def pid_control(self, error, dt): """ PID control algorithm Returns: turn speed (-MAX_TURN to +MAX_TURN) """ # Proportional term p_term = self.KP * error # Integral term (with anti-windup) self.integral += error * dt # Limit integral to prevent excessive accumulation integral_limit = 100 self.integral = max(-integral_limit, min(integral_limit, self.integral)) i_term = self.KI * self.integral # Derivative term derivative = (error - self.previous_error) / dt if dt > 0 else 0 d_term = self.KD * derivative # Calculate total turn speed turn_speed = p_term + i_term + d_term # Limit turn speed turn_speed = max(-self.MAX_TURN, min(self.MAX_TURN, turn_speed)) # Store values for next iteration self.previous_error = error return turn_speed left_speed)) right_speed = max(-self.MAX_SPEED