... | ... | @@ -176,7 +176,7 @@ Another problem when running the program on the NXT was, as seen in video 6, tha |
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We tested the gyro sensor and its capabilities to get a better understanding of how it works. Three tests were performed, respectively; stationary gyro sensor without motors running, movement of gyro sensor without motors running, stationary gyro sensor with motors running. The gyroscopic sensor was on placed on the robot as seen in Picture 5.
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![NoMotorStationary](http://gitlab.au.dk/uploads/u4099/legolabtimadala/700f6bfd26/NoMotorStationary.png)
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#####Graph 1: Stationary gyro sensor without motors running.
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##### Graph 1: Stationary gyro sensor without motors running.
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In the first test, the gyroscopic sensor was laying still with no running motors. We hoped that this would give us a more steady offset, because that the voltage for the NXT would not change.
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... | ... | @@ -185,14 +185,14 @@ Graph 1 shows us that the median for the gyro sensors data is about 603, and dif |
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In the next test no motors were running, and the gyroscope was moved was along with the robot in a forward, backward, backward and then forward movement pattern. We were trying mimic the behavior of the robot when correcting itself so it would balance again.
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![NoMotorMovementPS copy](http://gitlab.au.dk/uploads/u4099/legolabtimadala/56c2b7b1e5/NoMotorMovementPS_copy.png)
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#####Graph 2: Movement of gyro sensor without motors running.
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##### Graph 2: Movement of gyro sensor without motors running.
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As given in Graph 2, we see in general that the gyro values for the different movement patterns is the same. However, there er is a difference in how high the values peak. This could be due to the force and intensity of the movement. Hence, if you compare the first forward movement with second, and the first backward movement with the second as well. All this gives us a good understanding of what the gyro registres in the use of a self-balancing context.
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The last test that we conducted with the gyro sensor, was performed with motors running and the gyro being stationary. We were hoping to see if the running motors would interfere with the voltage of the NXT and by that add noise to the readings of the gyro, as [16] also mentions could be a factor of noise.
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![MotorStationary copy](http://gitlab.au.dk/uploads/u4099/legolabtimadala/c6f5d86f50/MotorStationary_copy.png)
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#####Graph 3: Stationary gyro sensor with motors running.
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##### Graph 3: Stationary gyro sensor with motors running.
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Graph 3 shows us that when the motors are running there are more peaks in the readings from the gyro, which tells us that the motors have an impact on the voltage of the NXT. It is further seen that there are places in which the offset remains between the same values as in Graph 1 even though the motors are running.
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