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> After initial tests with the LEGO model suggested by Hurbain, we made a small change to the wheel assembly. We noticed that the motor power was different for each motor which made the robot turn slightly. We solved this by making a fixed axle between the two wheels as seen in (fig.2).
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> ![fixed-axle](http://gitlab.au.dk/uploads/group-22/lego/9f18edf68a/fixed-axle.jpg)
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> ##### Fig. 2 - Our robot with the fixed axle between the two wheels.
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> ##### Fig. 2 - Our robot with the fixed axle improvement of Hurbains model.
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> We had a hard time making the robot balance using the PID controller. We managed to make it balance for some seconds and though we spent much time tweaking the PID values we did not succeed in making it balance for more than few seconds (see fig. ??). First we conducted an experiment on a white surface in a bright room. We found that the light-sensor was influenced by small changes in the light setting eg. our shadows. To overcome this we moved into a dark room with no light and tried the robot on a white paper surface. After some tweaking with the values we made the robot balance for about 2 seconds.
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> [![image alt text](http://img.youtube.com/vi/k6nARWC63OY/0.jpg)](http://www.youtube.com/watch?v=k6nARWC63OY)
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> Video link: Video showing the robot balancing in a dark room. The PID values are changed using a bluetooth connection. The robot is very shaky and has a hard time balancing.
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>---
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