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In this lab session we will try to create a self-balancing robot, using different sensors as input. These will include a light sensor, a color sensor, and a gyro sensor. Our experimentation and exploration is inspired by Phillippe Hurbain, Brian Bagnall, and Steve Hassenplug. In this lab session we will try to create a self-balancing robot, using different sensors as input. These will include a light sensor, a color sensor, and a gyro sensor. Our experimentation and exploration is inspired by Phillippe Hurbain, Brian Bagnall, and Steve Hassenplug.
## Self-balancing robot with light sensor ## Self-balancing robot with light sensor
In this section, we replicate the robot from Philippe Hurbain's construction [1], in an attempt to make it balance by itself. The roboto will balance by adjusting the motor-power, based on the light sensor readings.
### Setup & Approach ### Setup & Approach
The only difference between Phillippe's and our robot is that we are using the big battery pack, where Philippe is using the AA-battery pack. This required us to change the cross-beam behind the robot very slightly. Other than that, the robots are similar.
![Figure 1](http://1drv.ms/1bsIkal)
![Figure 2](http://1drv.ms/1Bqe5Gl)
![Figure 3](http://1drv.ms/1Bqe3y2)
![Figure 4](http://1drv.ms/1Bqe70U)
![Figure 5](http://1drv.ms/1Bqe7Od)
![Figure 6](http://1drv.ms/1bsIGxL)
To make it balance, we adopted Brian Bagnall's control system, [Sejway.java](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson5Programs/Sejway.java) [2]. Here, however, we tried out different settings and constant values. Which we will specify during our experiments.
## Choice of parameters on-the-fly ## Choice of parameters on-the-fly
...@@ -26,8 +39,8 @@ In this lab session we will try to create a self-balancing robot, using differen ...@@ -26,8 +39,8 @@ In this lab session we will try to create a self-balancing robot, using differen
### References ### References
* [1], The exercises of the week as well as the sample classes provided by Ole Caprani can be found here: http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson2.dir/Lesson.html * [1], [Philippe Hurbain](http://www.philohome.com/nxtway/nxtway.htm)
* [2], Fred G. Martin, Robotic Explorations: A Hands-on Introduction to Engineering, Prentice Hall, 2001. * [2], [Sejway.java](http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson5Programs/Sejway.java)
* [3], [Signal Generator](https://play.google.com/store/apps/details?id=radonsoft.net.signalgen), RadonSoft. * [3], [Signal Generator](https://play.google.com/store/apps/details?id=radonsoft.net.signalgen), RadonSoft.
* [4], Sivan Toledo, A Clap Counter, Oct 2006. * [4], Sivan Toledo, A Clap Counter, Oct 2006.
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