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> 4+7+3 hours
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> 4+7+3 hours
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>#### Overall goal
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>#### Overall goal
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>In this lab session we will try to make two (3) different self-balancing LEGO robots. In order to do this, we use 3 different sensors, which include a light-sensor, a color-sensor and an gyro-sensor. The exercises for this week, are as follows:
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>In this lab session we will try to make two different self-balancing LEGO robots. In order to do this, we use 3 different sensors, which include a light-sensor, a color-sensor and an gyro-sensor. The exercises for this week, are as follows:
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> * Exercise 1: Self-balancing robot with light sensor
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> * Exercise 1: Self-balancing robot with light sensor
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> * Exercise 2: Choice of parameters on-the-fly
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> * Exercise 2: Choice of parameters on-the-fly
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> * Exercise 3: Self-balancing robot with color sensor
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> * Exercise 3: Self-balancing robot with color sensor
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>---
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>---
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>
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>
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>## Exercise 1: Black White Detection
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>## Exercise 1: Self-balancing robot with light sensor
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>#### Task
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>#### Task
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>Mount the sensor on the car and make a program that use and test the class BlackWhiteSensor.java. After calibration, place the car with the light sensor over different dark and bright areas and investigate how well the BlackWhiteSensor works.
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>Use the LEGO model suggested by Phillippe Hurbain, [3], and the java program from Brian Bagnall, [4] to start experiments with a self-balancing robot. Under the headline Usage Phillippe Hurbain describes under which conditions the NXTway works best. Try to follow some of his advices.
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>#### Plan
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>#### Plan
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>We first mounted the light sensor on the car as showed on the picture below. The light sensor is placed just above the ground surface. After mounting the sensor we tested the readings on different surfaces and under different light settings. These findings are presented in a table under the results section.
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>We first mounted the light-sensor on the car as showed on the picture below. The light-sensor is placed just above the ground surface. In last week we tested the light-sensor and its readings on different surfaces and under different light settings. These findings made it easy for us to choose the circumstances for this exercise.
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> ![1](http://gitlab.au.dk/uploads/group-22/lego/974492fb01/2.jpg)
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> ![1](http://gitlab.au.dk/uploads/group-22/lego/974492fb01/2.jpg)
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