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smp4903 created page: Group_6_Lab_Session_5 authored by Stefan Michael Pedersen's avatar Stefan Michael Pedersen
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Group_6_Lab_Session_5.markdown
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......@@ -119,7 +119,7 @@ The PID constants were as follows:
**Power = 100**
**Integral = 40**
**Integral = 20**
**Differential = 80**
......@@ -129,9 +129,19 @@ The offset is very circumstantial and is pointless to provide.
This setup allowed a best-case balancing time of XXASASFAS seconds.
To sum up, we can conclude that the color sensor was no significant improvement compared to the light sensor, when the color sensor is used as a lightsensor. However, our lighting conditions were nowhere near perfect, which will have introduced a lot of light pollution. We did not try out this setup with a balance bar because of time limitations, but we believe that it would improve the stability, as was the case in section 1.
The setup differentiates from our first experiements in terms of wheel size. The ones used in the experiment are smaller and flatter. We suspected that they would increase stability but were not able to exceed the performance of the light sensor robot.
We had luck with different combinations of the PID constants, but nothing that was lasting.
Attaching the balance bars could prove to be better but our preliminary tests were only somewhat succesful.
To sum up, we can conclude that the color sensor was no significant improvement compared to the light sensor, when used as a lightsensor. However, our lighting conditions were nowhere near perfect and due to time limitations we abandoned further experiments.
## Self-balancing robots with gyro sensor
Based on RobotSquare's [8] and HiTechnic's documentation [9], we will try to implement our own balancing robot using a Gyro Sensor.
### Setup & Approach
## Conclusion
......@@ -145,6 +155,8 @@ To sum up, we can conclude that the color sensor was no significant improvement
* [5], [BTcontrolledBalancer.java](MISSING LINK)
* [6], "NXT Segway with Rider", Design Description, [http://www.nxtprograms.com/NXT2/segway/index.html](http://www.nxtprograms.com/NXT2/segway/index.html)
* [7], "NXT Segway with Rider", Building Instructions, [http://www.nxtprograms.com/NXT2/segway/steps.html](http://www.nxtprograms.com/NXT2/segway/steps.html)
* [8], Robotic Ideas & Instructions, [AnyWay - Build a SegWay in under an hour!](http://laurensvalk.com/nxt-2_0-only/anyway)
* [9], HITechnic, [HTWay - A Segway type robot](http://www.hitechnic.com/blog/gyro-sensor/htway/)