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>We built our Segway with rider according to the instructions on nxtprograms.com [7]. The only change we made to the build was replacing the “head” (ultrasonic sensor) with a gyro sensor to be used in a later exercise. We also did experiments using both the color sensor and the light sensor to see if there would be any difference. We did not intend to use the third motor during this exercise.
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>We built our Segway with rider according to the instructions on nxtprograms.com [7]. The only change we made to the build was replacing the “head” (ultrasonic sensor) with a gyro sensor to be used in a later exercise. We also did experiments using both the color sensor and the light sensor to see if there would be any difference. We did not intend to use the third motor during this exercise.
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> #### Results
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> #### Results
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>We tested the robot with the color sensor in a similar way as in exercise 1. We used the GUI to change the values while the program was running to get a more precise balancing robot. To eliminate any outside interference we did the test in a closed dark room with a white shiny surface. The program from exercise 1 was modified to use a color sensor and read the normalizedLightValue for the initial offset and the normVal. The program can be found at sejwayColor.java [10].
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>We tested the robot with the color sensor in a similar way as in exercise 1. We used the GUI to change the values while the program was running to get a more precise balancing robot. To eliminate any outside interference we did the test in a closed dark room with a white shiny surface. The program from exercise 1 was modified to use a color sensor and read the normalizedLightValue for the initial offset and the normVal. The program can be found at sejwayColor.java [10].
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> [![image alt text](http://img.youtube.com/vi/TAdBqzygmdI/0.jpg)](http://www.youtube.com/watch?v=TAdBqzygmdI)
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>---
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>---
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> ## Additional goal - An explanation of the balance theory
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> ## Additional goal - An explanation of the balance theory
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> Physical structure of small robot from exercise 1:
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> Physical structure of small robot from exercise 1:
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The robot’s struggle to balance can be due to it’s centre of gravity. As shown in (fig. 8) the robot used for this exercise (placed on the right) has a tall centre of gravity indicated by the horizontal line. We found the centre of gravity by balancing the robots to find their pivot points. Because of this inaccurate method, the centre of gravity might be slightly different if we made the appropriate mathematical calculations, but as the figure only serves as an illustration we found our method adequate.
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The robot’s struggle to balance can be due to it’s centre of gravity. As shown in (fig. ?) the robot used for this exercise (placed on the right) has a tall centre of gravity indicated by the horizontal line. We found the centre of gravity by balancing the robots to find their pivot points. Because of this inaccurate method, the centre of gravity might be slightly different if we made the appropriate mathematical calculations, but as the figure only serves as an illustration we found our method adequate.
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> ![centre-of-gravity-robots (1)](http://gitlab.au.dk/uploads/group-22/lego/3d98c9c591/centre-of-gravity-robots__1_.jpg)
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> ![centre-of-gravity-robots (1)](http://gitlab.au.dk/uploads/group-22/lego/3d98c9c591/centre-of-gravity-robots__1_.jpg)
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> ##### Fig. 8 - Lines indicate the centre of gravity
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> ##### Fig. 8 - Lines indicate the centre of gravity
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