@@ -236,19 +236,22 @@ Further exploration might have included testing the color sensor in different co
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@@ -236,19 +236,22 @@ Further exploration might have included testing the color sensor in different co
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The offset was mesuared by placing the robot by a wall, and observing the value over a period of time. The reading was 597-598 and we felt that it was most 598.
The offset was measured by placing the robot against a wall, and observing the value over a period of time. The reading varying between 597 and 598, with 598 occuring the most. The offset for angular velosity is therefore 600 - 598 = 2. ***(Nicolai: Is this right? Ida: Tænker du på, om det skal være negativt eller ej? Jeg vil tro, at det skal være positivt. Har rettet, men vi kan sagtens rette tilbage.)***
The offset for angular velosity is therefor -2. (Nicolai: Is this right?)
To test the drift, we started by starting the GyroTest.java and let it run for 10 minutes to check if the sensor developed heat which would then maybe resulting in the read value to drift.
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.
- It didn't. At the end it still switftet between 597 and 598.
Afterwards we modified the Gyrotest to let both motors run while the program ran. We also added a datalogger to the program to make later observations possible.
Afterwards, we modified the Gyrotest to let both motors run while the program was running. We also added a datalogger to the program to gather information for later observations. We used this to calculate the average reading and the average drift, presented in the table below.
| | Average reading | Average drift | Maximal drift |
| Engines on | 596.698744 | ***???*** | ***???*** |
| Engines off | 596.5979995 | ***???*** | ***???*** |
Average reading with wheels on: 596.698744 (No noticeable average drift)
Average reading with wheels on/engines running: 596.698744 (no noticeable average drift)
Average reading without wheels: 596.5979995 (No noticeable average drift)
Average reading without wheels/with enginges off: 596.5979995 (no noticeable average drift)
(KOMMENTAR: Skriv med at de to average readings ikke er særligt forskellige)
We concluded that the average drift was negligible in both cases.
(KOMMENTAR: Skriv med at de to average readings ikke er særligt forskellige - diff kun 0.1)
Based on the code in [Ref or lesson plan], we tried implementing integration to calculate the angle of the gyro based on the sample interval and the gyro motion readings. 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 was 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.
Based on the code in [Ref or lesson plan], we tried implementing integration to calculate the angle of the gyro based on the sample interval and the gyro motion readings. 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 was 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.
