... | ... | @@ -160,7 +160,7 @@ Our obtained results indicates that the color sensor worked better than the ligh |
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### Results
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Below is shown a Video of our end result when experimenting with the self-balancing robot that uses a gyro sensor.
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[![image alt text](http://img.youtube.com/vi/?????/0.jpg)](http://www.youtube.com/watch?v=??????)
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[![image alt text](http://img.youtube.com/vi/tMFfdA_jq-Q/0.jpg)](http://www.youtube.com/watch?v=tMFfdA_jq-Q)
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##### Video 7: Self-balancing robot with gyro sensor
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In the last experiment we got the robot to work and balance by itself (until the battery runs out), as seen in Video 7. It also worked even when we gave it a little push. After trying a lot of different parameters we finally found the ones that gave a good result. In the sections below you will comments on how we achieved the result.
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During the different experiments with the different sensors. Our results shows us that the light sensor self-balancing robot is the hardest to function properly when trying to get the robot to balance as explained in the section about it. When we used the color sensor we had a good result and got the robot to balance for a while. Of course we had to make sure that there was certain conditions when making the tests, eg. the room was made dark to eliminate shadows and also the surface of which the robot was balancing on was white.
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### References
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. 1 Philippe Hurbain, [NXTway.](http://www.google.com/url?q=http%3A%2F%2Fwww.philohome.com%2Fnxtway%2Fnxtway.htm&sa=D&sntz=1&usg=AFQjCNFJTCBJMi-0uqllJZ_vcCI00VTV-w)
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. 2 Brian Bagnall, [Maximum Lego NXTBuilding Robots with Java Brains](http://www.google.com/url?q=http%3A%2F%2Fwww.variantpress.com%2Fbooks%2Fmaximum-lego-nxt&sa=D&sntz=1&usg=AFQjCNFAZO_NBE_YEi1geQO9Ktc-OqN73A), Chapter 11, 243-284.
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. 3 nxtprograms, [NXT Segway with Rider.](http://www.google.com/url?q=http%3A%2F%2Fwww.nxtprograms.com%2FNXT2%2Fsegway%2Findex.html&sa=D&sntz=1&usg=AFQjCNGoOn36rQsiVlwov_ssvG2pjIojxw)
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. 4 [J. Sluka.] (http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html)
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. 5 [Video 1: Self-balancing robot with Light Sensor. ](https://www.youtube.com/watch?v=UJJ_rJSJfTQ&feature=youtu.be)
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. 6 [Video 2: LSblance2.](https://www.youtube.com/watch?v=sJct-8HLV2g&feature=youtu.be)
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. 7 [Video 3: LSbalance3.](https://www.youtube.com/watch?v=JA-F6hmOjjY&feature=youtu.be)
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. 8 [LSBalance.java](https://www.dropbox.com/s/i1y0ae72a8n74d7/LSBalancer.java?dl=0)
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. 9 [LSGUI.java](https://www.dropbox.com/s/40r1dotu0929jjd/LSGUI.java?dl=0)
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. 10 [Table 1.](http://www.google.com/url?q=http%3A%2F%2Fen.wikipedia.org%2Fwiki%2FPID_controller&sa=D&sntz=1&usg=AFQjCNESubyf2PSUhSbBdAWAaVW9CbbZ4Q)
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. 11 [Video 4: Self-balancing robot with Color Sensor]( http://youtu.be/UTHTnAUIhdY)
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. 12 [CSBalance.java](https://www.dropbox.com/s/r5ny71grn54krnb/CSBalancer.java?dl=0)
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. 13 [CSGUI.java](https://www.dropbox.com/s/zifs6kr09fivice/CSGUI.java?dl=0)
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. 14 [Video 5: Self-balancing robot with Color Sensor - Non planar surface](http://youtu.be/m8RDj60D8wI)
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. 15 [Video 6: Self-balancing robot with Gyro Sensor - Drifting.](http://youtu.be/ixAGPc9juyo)
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. 16 [Gyro offset and drift.](https://nxttime.wordpress.com/2010/11/03/gyro-offset-and-drift/)
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. 17 [HITechnic, HTWay - A Segway type robot.](http://www.hitechnic.com/blog/gyro-sensor/htway/)
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. 18 [Video 7: Self-balancing robot with Gyro Sensor](http://youtu.be/tMFfdA_jq-Q)
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. 19[GyroBalancer.java](https://www.dropbox.com/s/czmhcogplijwrqi/GyroBalancer.java?dl=0) |
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1. Philippe Hurbain, [NXTway.](http://www.google.com/url?q=http%3A%2F%2Fwww.philohome.com%2Fnxtway%2Fnxtway.htm&sa=D&sntz=1&usg=AFQjCNFJTCBJMi-0uqllJZ_vcCI00VTV-w)
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2. Brian Bagnall, [Maximum Lego NXTBuilding Robots with Java Brains](http://www.google.com/url?q=http%3A%2F%2Fwww.variantpress.com%2Fbooks%2Fmaximum-lego-nxt&sa=D&sntz=1&usg=AFQjCNFAZO_NBE_YEi1geQO9Ktc-OqN73A), Chapter 11, 243-284.
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3. nxtprograms, [NXT Segway with Rider.](http://www.google.com/url?q=http%3A%2F%2Fwww.nxtprograms.com%2FNXT2%2Fsegway%2Findex.html&sa=D&sntz=1&usg=AFQjCNGoOn36rQsiVlwov_ssvG2pjIojxw)
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4. [J. Sluka.] (http://www.inpharmix.com/jps/PID_Controller_For_Lego_Mindstorms_Robots.html)
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5. [Video 1: Self-balancing robot with Light Sensor. ](https://www.youtube.com/watch?v=UJJ_rJSJfTQ&feature=youtu.be)
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6. [Video 2: LSblance2.](https://www.youtube.com/watch?v=sJct-8HLV2g&feature=youtu.be)
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7. [Video 3: LSbalance3.](https://www.youtube.com/watch?v=JA-F6hmOjjY&feature=youtu.be)
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8. [LSBalance.java](https://www.dropbox.com/s/i1y0ae72a8n74d7/LSBalancer.java?dl=0)
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9. [LSGUI.java](https://www.dropbox.com/s/40r1dotu0929jjd/LSGUI.java?dl=0)
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10. [Table 1.](http://www.google.com/url?q=http%3A%2F%2Fen.wikipedia.org%2Fwiki%2FPID_controller&sa=D&sntz=1&usg=AFQjCNESubyf2PSUhSbBdAWAaVW9CbbZ4Q)
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11. [Video 4: Self-balancing robot with Color Sensor]( http://youtu.be/UTHTnAUIhdY)
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12. [CSBalance.java](https://www.dropbox.com/s/r5ny71grn54krnb/CSBalancer.java?dl=0)
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13. [CSGUI.java](https://www.dropbox.com/s/zifs6kr09fivice/CSGUI.java?dl=0)
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14. [Video 5: Self-balancing robot with Color Sensor - Non planar surface](http://youtu.be/m8RDj60D8wI)
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15. [Video 6: Self-balancing robot with Gyro Sensor - Drifting.](http://youtu.be/ixAGPc9juyo)
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16. [Gyro offset and drift.](https://nxttime.wordpress.com/2010/11/03/gyro-offset-and-drift/)
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17. [HITechnic, HTWay - A Segway type robot.](http://www.hitechnic.com/blog/gyro-sensor/htway/)
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18. [Video 7: Self-balancing robot with Gyro Sensor](http://youtu.be/tMFfdA_jq-Q)
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19. [GyroBalancer.java](https://www.dropbox.com/s/czmhcogplijwrqi/GyroBalancer.java?dl=0) |