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**Activity duration:** 30 hours.
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## Structure
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The report is structured as follows; The first two sections describes our overall goal and how we are going to achieve this. The next general sections are in regards to three different types of self-balancing robots that we are going to experiment with. Each of these sections contains respectively our results and findings, and a conclusions on these.
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In the last section we will draw an overall conclusion on the three types of robots and compare these in relations to each other. We will further reflect upon what we could have done different and what impact this could result in.
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## Goal
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The overall goal of this lab report is to experiment with three different ways of creating a self-balancing robot. This is done respectively with a light sensor, color sensor and lastly a gyro sensor.
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## Plan
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We are planning to conduct the different robot experiments under the same conditions, which is a white surface placed in a semi-dark room. The light and color sensors are placed orthogonal to the surface. We are further going to experiment with other conditions and use these as a means reflection. In general we will perform the experiments with the opportunity to manipulate the parameters in the code on-the-fly. We have therefore implemented a GUI in which we can alter the kP, kI, kD values and programmed the right and left button, on the robot, to increase and decrease the offset.
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## Self-balancing robot with light sensor
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##### Picture 1: Robot setup and height from sensor to surface, inspired by Philippe Hurbain[1]. |
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