this is for adi to satisfy his desires

DualYokeControl (Previous Version).ino

@@ -3,9 +3,6 @@
 
 // PIN MAPPING
 
-#define indL A0
-#define indR A1
-
 #define dirFR 2
 #define pwmFR 3
 #define dirBR 4
@@ -17,26 +14,16 @@
 
 // variables
 
-int dist_raw, tprior, telapsed, pwm, pwm2, oor, oor2, dist2_raw;
+int dist_raw, tprior, telapsed, pwm, pwm2, dist2_raw;
+bool oor, oor2;
 float dist,ecurr, eprior, derror, ecum, ff,dist2,ecurr2, eprior2, derror2, ecum2, ff2;
 
 #define CAP 200
 
 
 // CONTROLLER CONSTANTS
-
-float ki, kd, K;
 float MAX_INTEGRAL_TERM = 1e4;
 
-const float ref = 21.0; //14.9;
-const float ref2 = 22.0; //14.9;
-
-const float refL = (ref + ref2) / 2;
-const float refR = refL;
-
-const float K_current = 1;
-const float ki_current = 0;
-
 //// FOR MC 1
 //const float K_f = 50; // gain for when we want to fall (ref > dist or error > 0)
 //const float ki_f = 0.01;
@@ -46,24 +33,44 @@ const float ki_current = 0;
 //const float ki_a = ki_f;
 //const float kd_a = 10; //30;
 
-// FOR MC 1
+typedef struct Constants {
-const float K_f = 40; // gain for when we want to fall (ref > dist or error > 0)
+  float K;
-const float ki_f = 0.01;
+  float ki;
-const float kd_f = 7; // 25
+  float kd;
+} Constants;
 
-const float K_a = 20;
+typedef struct K_MAP {
-const float ki_a = ki_f;
+  Constants falling;
-const float kd_a = 20; //30;
+  Constants attracting;
+} K_MAP;
 
-// FOR MC 2
+typedef struct Collective {
+  K_MAP constants;
+  float e;
+  float eDiff;
+  float eInt;
+  float ref;
+} Collective;
 
-const float K2_f = K_f;// gain for when we want to fall (ref > dist or error > 0)
+Collective collLeft = {{{40, 0.01, 7}, {20, 0.01, 20}}, 0, 0, 0, 21.0};
-const float ki2_f = ki_f;
+Collective collRight = {{{40, 0.01, 7}, {20, 0.01, 20}}, 0, 0, 0, 22.0};
-const float kd2_f = kd_f;
 
-const float K2_a = K_a;
+int levCollective(Collective collective, bool oor){
-const float ki2_a = ki_a;
+  if (oor){
-const float kd2_a = kd_a;
+    pwm = 0;
+  }
+  else{
+    Constants pidConsts;
+
+    // this means that dist > ref so we gotta attract to track now vv
+    if (collective.e < 0) pidConsts = collective.constants.attracting;
+    // this is falling vv
+    else pidConsts = collective.constants.falling;
+
+    pwm = constrain(pidConsts.K*(collective.e + pidConsts.ki*collective.eInt + pidConsts.kd*collective.eDiff), -CAP,CAP);
+  }
+  return (int)pwm;
+}
 
 #define sampling_rate 1000
 const int dt_micros = 1e6/sampling_rate;
@@ -86,15 +93,12 @@ void setup() {
 
   // ATTRACT IS B  // REPEL IS A
 
-
   //when error is negative, I want to attract.
   send_pwmFL(0);
   send_pwmFR(0);
 
 }
 
-
-
 void loop() {
   if (Serial.available() > 0) {
     String inputString = Serial.readStringUntil('\n');  // Read the full input
@@ -113,6 +117,10 @@ void loop() {
 
   if (telapsed >= dt_micros){
     // put your main code here, to run repeatedly:
+    indL.read();
+    indR.read();
+    indF.read();
+    indB.read();
     dist_raw = analogRead(indL);
     if (dist_raw > 870) oor = true;
     dist = indToMM(ind0Map, dist_raw); // 189->950, 16->26
@@ -138,8 +146,7 @@ void loop() {
 
     
     if (ON) {
-      int collective1 = levitate(ecurr, derror, ecum, oor);
+      int collective1 = 
-      int collective2 = levitate2(ecurr2, derror2, ecum2, oor2);
       send_pwmFL(pwm);
       send_pwmFR(pwm2);
       Serial.print(pwm);
@@ -170,51 +177,6 @@ void loop() {
   //Serial.println(telapsed);
 }
 
-int levitate(float e, float de, float ecum, int oor){
-  if (oor){
-    pwm = 0;
-  }
-  else{
-    if (e < 0) { // this means that dist > ref so we gotta attract to track now
-      kd = kd_a;
-      ki = ki_a;
-      K = K_a;
-    }
-    else{
-      kd = kd_f;
-      ki = ki_f;
-      K = K_f;
-    }
-
-    pwm = constrain(K*(e + ki*ecum + kd*de), -CAP,CAP);
-
-  }
-  return (int)pwm;
-}
-
-int levitate2(float e, float de, float ecunm, int oor){
-  if (oor){
-    pwm2 = 0;
-  }
-  else{
-    if (e < 0) { // this means that dist > ref so we gotta attract to track now
-      kd = kd2_a;
-      ki = ki2_a;
-      K = K2_a;
-    }
-    else{
-      kd = kd2_f;
-      ki = ki2_f;
-      K = K2_f;
-    }
-
-    pwm2 = constrain(K*(e + ki*ecum + kd*de), -CAP,CAP);
-
-  }
-  return (int)pwm2;
-
-}
-
 void send_pwmFL(int val){
   if (val > 0) {
     digitalWrite(dirFL, LOW);

IndSensorMap.cpp

@@ -1,4 +1,5 @@
 #include "IndSensorMap.hpp"
+#include <Arduino.h>
 #include <math.h>
 
 // Sensor calibration data
@@ -7,7 +8,24 @@ IndSensorMap ind1Map = {-4.831976283950702, 885.9877001844566, 0.279328461810928
 IndSensorMap ind2Map = {-9.824360913609562, 871.4744633266955, 0.2909366235093304, 4.3307594408159495, 0.2822807132259202};
 IndSensorMap ind3Map = {-13.891292062248292, 990.6819962477331, 0.16376045588859353, -0.074904004740735, 0.17727132893449118};
 
+// IndSensor class implementation
+IndSensor::IndSensor(IndSensorMap calibration, uint8_t analogPin)
+  : consts(calibration), pin(analogPin), oor(false) {}
+
 // Convert raw analog reading to millimeters using sensor calibration
-float indToMM(IndSensorMap ind, unsigned int raw) {
+float IndSensor::toMM(unsigned int raw) {
-  return ind.C - (1.0 / ind.B) * log(pow((ind.K - ind.A) / ((float)raw - ind.A), ind.v) - 1.0);
+  return consts.C - (1.0 / consts.B) * log(pow((consts.K - consts.A) / ((float)raw - consts.A), consts.v) - 1.0);
 }
+
+// Read sensor directly from pin and convert to millimeters
+float IndSensor::read() {
+  unsigned int raw = analogRead(pin);
+  oor = (raw == 0 || raw > 870);  // Update out-of-range flag
+  return toMM(raw);
+}
+
+// Predefined sensor instances
+IndSensor indL(ind1Map, A0);
+IndSensor indR(ind0Map, A1);
+IndSensor indF(ind3Map, A5);
+IndSensor indB(ind2Map, A4);

IndSensorMap.hpp

@@ -10,13 +10,28 @@ typedef struct IndSensorMap {
   double v;
 } IndSensorMap;
 
-// Predefined sensor calibrations
+class IndSensor {
-extern IndSensorMap ind0Map;
+public:
-extern IndSensorMap ind1Map;
+  bool oor;
-extern IndSensorMap ind2Map;
+  int mmVal;
-extern IndSensorMap ind3Map;
 
-// Convert raw analog reading to millimeters using sensor calibration
+  // Constructor
-float indToMM(IndSensorMap ind, unsigned int raw);
+  IndSensor(IndSensorMap calibration, uint8_t analogPin);
+  // Read sensor directly from pin and convert to millimeters
+  float read();
+
+private:
+  IndSensorMap consts;
+  uint8_t pin;
+
+  // Read sensor and convert to millimeters
+  float toMM(unsigned int raw);
+};
+
+// sensor instances
+extern IndSensor indL;
+extern IndSensor indR;
+extern IndSensor indF;
+extern IndSensor indB;
 
 #endif // IND_SENSOR_MAP_HPP