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rene2014 created page: Lesson 5 authored by Steffan Lildholdt's avatar Steffan Lildholdt
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......@@ -28,6 +28,10 @@ For this exercise we used a LEGO model build according to the description in [2]
![Robot with light sensor mounted](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson5/Images/LightSensorRobot.JPG)
We know that the surface which the robot is placed on affects the control mechanism and therefore three different materials is tested. These are a blank white table, a wooden table and the carpet floor. These surfaces are shown in the following picture.
![Surfaces which the self-balancing robot is tested on](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson5/Images/LightSensorSurfaces.JPG)
The standard software architecture is used along with the “LightPIDController” class.
By repeatedly tuning the parameters through the PC GUI we ended up with the best possible setting of:
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