JAVA：單光感比例控制

參考網址： http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html

import lejos.nxt.*;//載入模組

class p

{

public static void main(String args[])//進入主程式

{

Button.ESCAPE.addButtonListener(new ButtonListener()//設定取消鍵

{

public void buttonPressed(Button b){System.exit(0);}

public void buttonReleased(Button b){}

});

LightSensor light = new LightSensor(SensorPort.S1);//設定感測器類別

int offset = 37;//光感平均值

int Kp = 10;

int Kp1 = -10;

while(true)

{

int Light = light.readValue();

Motor.C.setSpeed(Kp*(Light - offset)+700);

Motor.B.setSpeed(Kp1*(Light - offset)+700);

Motor.C.backward();

Motor.B.backward();

}

}

}