... | ... | @@ -53,7 +53,7 @@ Results from the “Segway with rider” with the light sensor are shown in the |
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![Sejway_new_robot_error_plot](/uploads/353a4a880cbf71cf0d9b8789ae74709d/Sejway_new_robot_error_plot.png)
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*Fig. 5*
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*Fig. 5* Error plot from Sejway program with new design
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Even without changing the PID values, the new robot is already better at balancing from the beginning [5].
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... | ... | @@ -101,15 +101,25 @@ Next we improved the physical design of the robot to a more top-heavy variant an |
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Lastly we tried to implement a balancing robot with a gyro sensor instead of the light based sensor from previous experiments. We had no success with getting this to work and the performance of the robot with this sensor never reached that of the robot with the light sensor.
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## References
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[1] Philippe Hurbain, NXTway.
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[1] Philippe Hurbain, NXTway
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[2] Brian Bagnall, Maximum Lego NXTBuilding Robots with Java Brains, Chapter 11, 243 - 284.
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The chapter contains a java program Sejway.java that can be used as a starting point for experiments with a self-balancing LEGO robot.
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[3] http://www.philohome.com/nxtway/bi_nxtway.htm
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[4] http://www.nxtprograms.com/NXT2/segway/index.html
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[5] https://goo.gl/xM2bsJ
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[6] https://goo.gl/sl94bk
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[7] http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson5.dir/Lesson5Programs/GyroTest.java
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[8] http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html
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[9] http://www.hitechnic.com/blog/gyro-sensor/htway/
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[10] https://goo.gl/yIbKaK
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[11] https://nxttime.wordpress.com/2013/04/19/the-gyro-sensor/ |
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[10] https://goo.gl/yIbKaK
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[11] https://nxttime.wordpress.com/2013/04/19/the-gyro-sensor/ |
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\ No newline at end of file |