From 2ca19bf287e1018b5acf0835a2d502234c2e5eee5137740b48fc17ed0bc2cbed Mon Sep 17 00:00:00 2001
From: yenru0 <yenru0604@gmail.com>
Date: Wed, 10 Dec 2025 00:12:53 +0900
Subject: [PATCH] =?UTF-8?q?=EC=95=BD=EA=B0=84=EC=9D=98=20=EC=88=98?=
 =?UTF-8?q?=EC=A0=952?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 ccs/ir.c    |  2 +-
 ccs/main.c  | 46 +++++++++++++++++++++++++++++++++++++++++++++-
 ccs/state.c |  2 --
 3 files changed, 46 insertions(+), 4 deletions(-)

diff --git a/ccs/ir.c b/ccs/ir.c
index e84dca4..301ddb5 100755
--- a/ccs/ir.c
+++ b/ccs/ir.c
@@ -42,7 +42,7 @@ void test_ir(void) {
         ir_ready_ready();
         ir_read_value(&ir_value);
         print_binary(ir_value);
-        printf("\n";)
+        printf("\n");
         ir_read_off();
     }
 }
diff --git a/ccs/main.c b/ccs/main.c
index f3bcb00..ac682b8 100755
--- a/ccs/main.c
+++ b/ccs/main.c
@@ -13,7 +13,7 @@
 #define TRUE 1
 #define FALSE 0
 
-#define PRACTICE 3
+#define PRACTICE 4
 
 #if PRACTICE == 1
 
@@ -514,6 +514,48 @@ void position_init_led(void) {
 }
 
 
+#elif PRACTICE == 4
+
+void LineTracerPrac4(void) {
+    Clock_Init48MHz();
+    ir_init();
+    motor_init();
+
+    // PID Constants
+    const float Kp = 0.005f;
+    const float Kd = 0.02f;
+    const int BASE_SPEED = 10;
+    const int MAX_DRV = 20;
+
+    int error = 0;
+    int prev_error = 0;
+    float pid_out = 0;
+    int speed_l, speed_r;
+
+    while (1) {
+        uint8_t raw_val;
+        ir_read_ready();
+        Clock_Delay1ms(1);
+        ir_read_value(&raw_val);
+        ir_read_off();
+
+        error = get_error(raw_val);
+        pid_out = (Kp * error) + (Kd * (error - prev_error));
+        prev_error = error;
+
+        speed_l = BASE_SPEED + (int)pid_out;
+        speed_r = BASE_SPEED - (int)pid_out;
+
+        if (speed_l > MAX_DRV) speed_l = MAX_DRV;
+        if (speed_l < 0) speed_l = 0;
+        if (speed_r > MAX_DRV) speed_r = MAX_DRV;
+        if (speed_r < 0) speed_r = 0;
+
+        motor_move_custom(speed_l, speed_r);
+
+        Clock_Delay1ms(2);
+    }
+}
 #endif
 
 int main(void) {
@@ -523,6 +565,8 @@ int main(void) {
     LineTracerPrac2();
     #elif PRACTICE == 3
     LineTracerPrac3();
+    #elif PRACTICE == 4
+    LineTracerPrac4();
     #else
     printf("No practice selected.\n");
     #endif
diff --git a/ccs/state.c b/ccs/state.c
index 9aa683d..1dda911 100755
--- a/ccs/state.c
+++ b/ccs/state.c
@@ -37,8 +37,6 @@ void senbuf_get(SensorBuffer *sb, uint8_t *out, int lookahead) {
     }
 }
 
-
-
 // History Buffer
 
 void hisbuf_init(HistoryBuffer *sb) {