@@ -24,7 +24,7 @@ For these exercises Camilla will be taking notes, Nicolai will be programming an
## Results
### Self balancing robot with light sensor ---
We started by running Bagnall's program [2] without modifications, in the large working space in the Zuse building. This didn't give a good result: The robot just rushed ahead, either upright or sliding around on its "back", never holding its balance and standing still. The only reason that the robot was sometimes able to keep upright was that when tilting forwards, it landed on its light sensor which held up the robot like a crutch (as seen in Video 1).
We started by running Bagnall's program [2] without modifications, in the large working space in the Zuse building. This didn't give a good result: The robot just rushed ahead, either upright or sliding around on its "back", never holding its balance and standing still. The only reason that the robot was sometimes able to keep upright was that when tilting forwards, it landed on its light sensor which then held up the robot like a crutch (as seen in Video 1).
[](video IMG_2238.MOV)
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@@ -41,7 +41,8 @@ We tested the robot in the bathroom where he light could be totally switced off.
When we first placed the robot and tried to have it calibrate, it fell over almost immediately.
##### start balancing - not effect of push
We tried calibrating the robot while it was resting against the door to the bathroom, as the door was perpendicular to the floor and flat which. This allowed the robot to callibrate for a more steady, upright position - for instance this reduced the risk of us accidentally tilting the robot when pushing the start button after (during) calibration. We placed the robot so that it a small angle (see Video 2) as we judged that the robot had too much weight in the front because of its sensor. This worked more or less, but the robot clinged to the door (we made a door opener)
We tried calibrating the robot while it was resting against the door to the bathroom, as the door was perpendicular to the floor and flat. This allowed the robot to calibrate for a more steady, upright position - for instance, this reduced the risk of us accidentally tilting the robot when pushing the start button after (during) calibration. We placed the robot at a small angle to the door (see Video 2), as we assessed that the robot had too much weight in the front because of its sensor. This worked better, but the robot seemed to be clinging to the door.
We turned on the light - see video
We tried a stiber angle which worked much better - see video
We tried to get rid of the weight difference that came from the bouncing wires and therefore 'rebuild' the robot.
