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QTR-RC Sensor Driver(STM32F4) and PID Implementation

This repository provides an implementation of a custom QTR-RC sensor driver for the STM32F4 microcontroller and integrates a PID (Proportional-Integral-Derivative) controller to manage motor movement based on sensor data in a line-follower application. This project is noteworthy as it introduces a QTR-RC sensor driver compatible with STM32F4, which is currently unavailable elsewhere.

QTRRC Sensors Other Sensor

Project Structure

The repository is organized into the following folders:

  1. QTR_RC_Driver

    • Contains the implementation of the QTR-RC sensor driver for STM32F4, Successfully tested on STM32F446RE Board.
    • This folder includes essential files for configuring GPIO pins, reading raw sensor values, calibrating the sensors and reading calibrated sensor values.

  2. PID_implementation For Line-follower Application

    • Contains the PID controller code responsible for adjusting motor speeds based on sensor input to maintain desired movement patterns.
    • The PID controller calculates error calculations based on sensor feedback, which requires correction to keep the robot on track, enabling smooth and responsive navigation.
    • Includes functions to manage motor speed and directional adjustments based on PID output.

Key Features

  • Custom QTR-RC Sensor Driver: A newly developed driver for QTR-RC sensors, specifically tailored for the STM32F4 series.
  • PID-Controlled Motor Speed Adjustment for LineFollower Robot: Real-time PID-based adjustments to motor speeds, allowing precise control over robot movement.
  • Modular Structure: Organized into separate modules for sensor interfacing and control logic, making it easy to maintain and expand.

File Descriptions

qtr-rc_driver

  • qtr_rc_driver.h: Header file defining functions and GPIO modes for QTR-RC sensor handling.
  • qtr_rc_driver.c: Source file implementing the QTR-RC sensor reading, calibration, and error calculation logic.

pid_implementation

  • PID_calculation.h: Header file defining PID functions and parameters.
  • PID_calculation.c: Source file implementing the PID control calculations and motor speed adjustments based on sensor feedback.

Getting Started

To use this code with an STM32F4 board:

  1. Clone the repository to your local machine. 
    git clone https://github.com/WassimHedfi/QTR_RC-driver-STM32f4.git