@@ -16,12 +16,26 @@ As suggested in the lesson plan, we plan to use Philippe Hurbain's NXTway [1] as
In [1], Hurbain provides some advice on optimal conditions for the NXTway, which we will take into account when implementing, evaluating and revising our program.
We want to experiment with using a PID controller for getting the robot to stand up.
We plan (or hope) to finish the activities within 5 hours.
For these exercises Camilla will be taking notes, Nicolai will be programming and Emil and Ida will be in charge of the experiments.
## Results
### Self balancing robot with light sensor
We start by running the initial program given by [2]. This didn't give a good result. Frej just rushes in either direction and doesn't try to stand still.
Next we try to take Hurbains [1] conditions into account.
#### A dark room
We started by testing the robot and it fell!
#### start balancing - not effect of push
We tried calibrating it up against the door (because this was the most even thing). We used a little angle (see video) because the robot has too much front weight. This worked more or less, but the robot clinged to the door (we made a door opener)
We turned on the light - see video
We tried a stiber angle which worked much better - see video
