... | ... | @@ -15,13 +15,13 @@ The goal for the day is to test whether it is possible to follow the Alishan tra |
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## Plan
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The plan is to conduct various tests to see how the gyroscope behaves when driving on the Alishan track. This data will then be used to control the car.
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The control strategy idea for the car is to make the car drive forward until it reaches the first plateau, which is sensed by the gyroscope. On the plateau the car should turn 180 degrees to the right and drive forward until the next plateau is reach and so on.
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The control strategy idea for the car is to make the car drive forward until it reaches the first plateau, which is sensed by the gyroscope. On the plateau the car should turn 180 degrees to the right and drive forward until the next plateau is reached and so on.
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## Gyro Offset Test
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### Setup
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The gyro sensor is placed on the Lego car as shown in the picture below, and both motors are set to full power, while the car is turned upside down. This is down, to test what effect the motor have on the gyro offset.
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The gyro measurements are saved using a datalogger. The source code is found in [TODO!!!].
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The gyro measurements are saved using a datalogger. The source code is found in [2].
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![Lego car with gyro sensor attached.](https://gitlab.au.dk/rene2014/lego/raw/master/Lesson8/Images/LegoCarWithGyro.jpg)
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... | ... | @@ -69,8 +69,7 @@ The control strategy needs to be changed, since we plan on including a line foll |
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[1] http://legolab.cs.au.dk/DigitalControl.dir/NXT/Lesson8.dir/Lesson.html
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### Videos
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### Code
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[2] https://gitlab.au.dk/rene2014/lego/tree/master/Lesson8/Programs/MotorTest/src |