Read the position on the line with qtr-8a!

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1

hi everyone,
I bought a QTR8A and read Pololu QTR Sensor Functions int the pololu_avr_library.pdf. i am using pic18f452 in my project . there are some code example about PID.

int lastError = 0; 
void loop() 
{
unsigned int sensors[3];
int position = qtr_read_line(sensors, QTR_EMITTERS_ON);
int error = position - 1000;
int motorSpeed = KP * error + KD * (error - lastError);
lastError = error;
int m1Speed = M1 + motorSpeed;
int m2Speed = M2 - motorSpeed;

if (m1Speed < 0)
m1Speed = 0;
if (m2Speed < 0)
m2Speed = 0;
}

here my questions:
1-i am using 8 sensors. therefore, are this lines of the code true?

unsigned int sensors[8];
int error = position - 3500;

and how can error variable to be int? int can be 0-255 ??? (i am using compiler ccs c.)

2-int position = qtr_read_line(sensors, QTR_EMITTERS_ON);

i think this line means formula is

0*value0 + 1000*value1 + 2000*value2 + ...
--------------------------------------------
value0 + value1 + value2 + ...

is it true and i cant understand this formula??

2

Hello,

The Pololu AVR Library is for AVRs, so it cannot be used with your PIC. However, I think your code would be right if you were using an AVR, and your understanding of the value that readLine returns is also right.

-Paul