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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] ...@@ -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) ![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. 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: By repeatedly tuning the parameters through the PC GUI we ended up with the best possible setting of:
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