@@ -70,7 +70,7 @@ We experimented with different angles of the robot when leaning against the door
*Video 3: Calibrating the robot against the door, with a somewhat succesful result (the robot didn't fall over that quickly, but didn't remain standing in one spot either)*
At this point we started wondering whether the wires to the engines were creating a problematic inconsistent weight distribution on the robot, so we tried refitting it, as can be seen in Video 4 and beyond.
@@ -173,7 +173,7 @@ Using the grid search approach again, we first tried with 40 (robot falling forw
We changed the setpoint to 585 and tried values of p between 40 and 70. As before, 70 caused violent oscillations and instability. Both 55 and 40 seemed more stable. We decided to continue testing with a value of 40.
Additional observation: The robot seems to stop briefly once in a while. This seemed to happen more with p = 70 than with p = 40.
*** skriv om: TRYING SOMETHING NEW (inspired by the above approach)***
***TODO skriv om: TRYING SOMETHING NEW (inspired by the above approach)***
Strategy: Trying extreme values for each variable to understand the effect of changing it. Then trying empirically to find good parameter values by utilizing this knowledge.
We decided to finish up the experiments (long) before having tried all possible combinations of parameters values, as it seemed pointless to go on when seeing no significant improvements to the robot's behaviour - continuing would not improve on our understanding of the effects of the different PID parameters further. However, the parameter search inspired by grid search did provide us with a more structured insight into the effects of the different parameters than had we just tried varying each parameter on a whim.
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@@ -219,12 +219,12 @@ The offset was measured by placing the robot against a wall, and observing the v
To test the drift, we began by starting ***GyroTest.java*** and letting it run for 10 minutes to check if the sensor developed heat which could then maybe result in a drift of the reading value. This didn't seem to be the case - in the end, the sensor readings were still shifting between 597 and 598.
Afterwards, we modified ***GyroTest*** to let both motors run while the program was running. We also added a data logger to the program to gather information for later observations. We used this to calculate the average reading and the average drift, presented in table 2 below. Two cases were investigated: In the first case, the robot was un-modified. In the second case, the robot's wheels were taken off. ***HVORFOR???***
Afterwards, we modified ***GyroTest*** to let both motors run while the program was running. We also added a data logger to the program to gather information for later observations. We used this to calculate the average reading and the average drift, presented in table 2 below. Two cases were investigated: In the first case, the robot was un-modified. In the second case, the robot's wheels were taken off. ***TODO: HVORFOR???***
| | Average reading | Average drift | Maximal drift |
