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Found 3 results

  1. When I bought the home version of Mindstorms EV3, I was disappointed that the gyro sensor was not included. So I bought the gyro sensor, and also the ultrasonic sensor, separately. Using the elements from the home EV3 set and the 2 sensors I made this model. (utrasonic sensor is optional) gyroboyharrie, a shooting gyroboy Control via colored bricks, infrared remote or Android phone.Even infrared beacon following is included. In case the optional utrasonic sensor is used it will avoid objects. If you want to see it in action: https://www.youtube....h?v=5nxW51COfIs Building instructions: https://www.youtube....h?v=GP7Y2l_wdn8 .lxf file for Lego Digital Designer is attached. Use Lego Digital Designer to generate better visible, but less logical, instructions. The complete .EV3 file on request. (EV3 @ harrie.info -remove spaces) gyroboyharrie.lxf
  2. 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 ...