Dobot AiStarter - 6.5.2 Procedure; 6.5.3 Code Description

AiStarter User Guide 6AI-Starter Demo
IssueV1.0.3（2018-09-01） AiStarter User Guide Copyright © Yuejiang Technology Co., Ltd
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int speedOffset;
//pid
errorsum += error;
if (errorsum > errorsumLimit) {
errorsum = errorsumLimit;
}
else if (errorsum < -errorsumLimit){
errorsum = -errorsumLimit;
}
errorChange = error - lastError;
speedOffset = kp * error + ki * errorsum + kd * errorChange;
lastError = error;
//calculate the wheel speed
speedLeftWheel = baseSpeed + speedOffset;
speedRightWheel = baseSpeed - speedOffset;
AIStarter_SmartBotSetMotor(MOTORL, speedLeftWheel);
AIStarter_SmartBotSetMotor(MOTORR, speedRightWheel);
Serial.println("go ahead");
}
6.2 Obstacle Avoiding Demo
6.2.1 Description
This demo realizes that AI_Starter avoids obstacle automatically.
6.2.2 Procedure
Step 1 The motors stop running after turning on AI-Starter.
Step 2 Press down the key start|stop, AI-Starter starts avoiding obstacle.
Step 3 AI-Starter moves back for a certain distance after detecting obstacle, and turn left
or right according to the ultrasonic sensors.
Step 4 Press down the key start|stop once agian, AI-Starter stops tracking line after the
buzzer beeps one time.
6.2.3 Code Description
1) Initialize AI-Starter.