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Showing results for tags 'balancing'.
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Hi, you will find a robotC code for the balancing problem on https://github.com/OmegaTom/LineBalancer (combined with a line follower and some more optional stuff) I have used a 'new' approach. The original LEGO solution (education set) is using a simple linear combination of the robot speed/position and the gyro rate/angle to balance the robot. This solution is quite senitive to calibration and mechnaical aspects of the robot. Laurens (robotsquare.com) has enhanced this solution by introducing a single PID control loop for the same linear combination. This improves the stability significantly but still there are limitations in optimizing the control loop. My approach is using 4 parallel PID controllers ... one for each parameter seperately. On github you will find a readme that explains the basic idea (and the balancing problem in general) in more detail... this implementation gives a lot more room to play with different parameter sets ... and I am sure that there are some robot fans out there that will come up with nice optimizations ;) feel free to play with my code and improve it ...
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This is a Kinetic Balancing Desk Toy with interchangeable scenes! This scene is a X-Wing and a Tie Fighter in a dog fight over the Death-Star. LEGO Kinetic Balancing Desk Toy by Sandlot Creations, on Flickr LEGO Kinetic Balancing Desk Toy by Sandlot Creations, on Flickr you can watch it in action here : Let me know of any scene ideas you would like to see built! Finally, if you would like this as an official product please support on Lego Ideas! Here is the link : Kinetic Balancing Desk Toy Thank you for watching!
