Hello
Thanks for this reply, I was going to abandon the whole idea, but you gave me a step forward to continue.
I am using PICBasic Pro compiler to write my program and PIC microcontroller, the two rear motors are those types found in toys.
If I want to use three infra-red transceivers as sensors for my robot
"Left - Middle - Right", considering the output of each sensor as logic 1 or logic 0, depending on whether the line exists beneath the sensor or not. Then, I will have eight possible states for these three sensors. Shall I consider these eight outputs the measured location, or not.
The setpoint, what is it practically in my robot, is it a predefined constant, a variable, or one of the measured locations that I will consider to be a reference for instance. I need more explaination please.
Now, when I get the error sample, how can I perform subtraction of the new and the previous value, to obtain derivative control part.
The control output is simply the direction of each rear motor, how can I sum P and D control parts to obtain PD control algorithm.
Thanks