@@ -250,7 +250,7 @@ Afterwards, we modified ***GyroTest*** to let both motors run while the program
*Table 2: Data on readings from the gyro sensor*
There seems to be no significant difference between the robot when whearing weels and when not - 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, we were not necessarily wrong in our observation as 598 could simply result from that specific testing situation being an extreme with respect to the average.
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.
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@@ -261,6 +261,9 @@ We would have attempted to amend the inaccurate angle calculation and then use t
We observed that changes in the angle reflected less strongly in the readings of the color sensor than in those of the light sensor. Our test of this underlined the necessity of interleaving qualitative assessments with quantitative measurements, due to the difficulty of conducting isolated experiments - many different factors influence the results and can sometimes be hard to take into account.
Preliminary experiments with the gyro sensor resulted in a good basis for further investigation into how to make a balancing robot. Sadly, time constraints forced us to finish the lesson before getting to the actual implementation. We may look into the obtained insights in connection with later projects in the LEGO course.
## References
[1] Philippe Hurbain, [NXTway](http://www.philohome.com/nxtway/nxtway.htm)
