... | ... | @@ -263,6 +263,8 @@ We would have attempted to amend the inaccurate angle calculation and then use t |
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(TODO alle: SKRIV MERE KONKLUSION TIL LIGHT SENSOR)
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(Nicolai: Wrote some, ved ikke om det er fint)
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Firstly, we should note that we were far from completing our goal of finishing the exercises within five hours. We will take this into account in the following lessons, either by allotting more time or by planning the exercises in more detail and sticking to a stricter plan.
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Our experimentation with creating a balancing robot using the light sensor proved to be immensely difficult. Systematically attempting different values for our P, I, D and setpoint variables proved somewhat fruitful, as we managed to somewhat remedy some of the issues that appeared to be causing the robot to fall over, but in the end it was still unable to balance for more than a second or two at best. A big culprit leading to this was also the mysterious random stopping of the motors that we were unable to find the source of.
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Testing the parameters in a way inspired by grid search provided us with a structured approach to investigating how the different paramters influence each other. Although limited time forced us to move on before fully completing an actual grid search, we did obtain some insights into the effect of the parameters on the robot's responsiveness to the light sensor.
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