| ... | ... | @@ -33,10 +33,10 @@ By repeatedly tuning the parameters through the PC GUI we ended up with the best |
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| Parameter | Value |
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| ------------- |:------:|
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| Kp | xx |
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| Ki | xx |
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| Kd | xx |
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| Tp | xx |
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| Kp | 2 |
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| Ki | 0.22 |
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| Kd | 1.5 |
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| Tp | 55 |
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A video of the end result is seen in [XXX]. This video shows that the Lego robot is able to perform self-balancing in short intervals of about 1-2 seconds. In order investigate this behavior the data logger is used to collect the light sensor readings during the execution of the program. The end result of this is seen in the following image.
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| ... | ... | |
