@@ -104,7 +104,7 @@ Note: Camilla & Nicolai: Vi valgte at udlade at vi ændrede ints til floats, for
In order to optimize our experimentation with various PID values for the program, we decided to make a PC GUI program to send new values to the robot over Bluetooth, on-the-fly while testing, rather than having to upload a new program with every value change.
### Choice of parameters on the fly
### Choosing parameters on the fly
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#### Making the programs
To make a GUI that runs on a computer and communicates variable values with the program running on the NTX we retrieved the ***TrackerController.java*** and the ***Tracker.java*** from [lesson 2](TODO ref) which was used respectively for controlling the PID values used on the NTX and receiving and using these values in a PID controller for the ultrasonic sensor. The ***TrackerController.java*** hence became the inspiration for our PC GUI and the ***Tracker.java*** for the NXT program responsible for receiving the sent values.
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@@ -213,7 +213,7 @@ Further exploration might have included testing the color sensor in different co
### Self balancing robot with gyro sensor
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(INTRO)
(TODO: INTRO)
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. Our sensor's offset for angular velosity is therefore 598.
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@@ -236,7 +236,8 @@ Based on code presented in [Ref for lesson plan], we tried implementing integra
We would have attempted to amend the inaccurate angle calculation and then use this as a means of creating a balancing robot using the gyro sensor, but at this point we had simply spent too much time on the exercises and were forced to cut our gyro implementation short and leave it at this. Had we had the time to continue, our ideas regarding the implementation of a balancing robot included combining the different sensors to have a form of "second opinion" to take into account when responding to the gyro sensor's readings.
## Conclusion
(SKRIV OM MERE UD FRA LIGHT OG GYRO)
(TODO: SKRIV OM MERE UD FRA LIGHT SENSOR)
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. Althugh 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.
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.
