| Engines on | 596.698744 | ***???*** | ***???*** |
| Wheels on | 596.698744 | ***???*** | ***???*** |
| Engines off | 596.5979995 | ***???*** | ***???*** |
| No wheels | 596.5979995 | ***???*** | ***???*** |
*Table 2: Data on readings from the gyro sensor*
*Table 2: Data on readings from the gyro sensor*
There seems to be no significant difference between having the engines running and having them turned off - there is only a difference of 0.1 between the average readings in the two cases. We concluded that the average drift was negligible in both cases.
There seems to be no significant difference between the robot with and without wheels - there is only a difference of 0.1 between the average readings in the two cases. We concluded that the average drift was negligible in both cases.
It is interesting that the average reading this time (in both cases) was closer to 597 than to 598, as opposed to what we concluded from the preceding run. However, this is only a marginal change and if time permitted we shoul probably run several long tests to obtain an overall average and use that.
It is interesting that the average reading this time (in both cases) was closer to 597 than to 598, as opposed to what we concluded from the preceding run. However, this is only a marginal change and if time permitted we shoul probably run several long tests to obtain an overall average and use that.
Based on code presented in [Ref for lesson plan], we tried implementing integration to calculate the angle of the gyro based on the sample interval and the motion readings of the gyro. The result was, however, extremely inaccurate, and would for some reason slowly slide in one direction, even when the gyro was motionless. We assumed this to be a result of the constant small speed readings made by the gyro even when still, but these should work in both directions as the offset remains the same despite fluctuations to either side, so the drifting angle is a mystery to us.
Based on code presented in [Ref for lesson plan], we tried implementing integration to calculate the angle of the gyro based on the sample interval and the motion readings of the gyro. The result was, however, extremely inaccurate, and would for some reason slowly slide in one direction, even when the gyro was motionless. We assumed this to be a result of the constant small speed readings made by the gyro even when still, but these should work in both directions as the offset remains the same despite fluctuations to either side, so the drifting angle is a mystery to us.
