Lego nxt balancing robot

Lego Mindstorms NXTway-G much cooler than Segway

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It establish a Bluetooth connection to the NXT and use wireless communication to drive a simple car with different values of power to the motors and for different durations. The BTcontrolledCar waits for a connection to be established, receives the values of power and duration and make the car drive controlled by the received values. When the car stops BTcontrolledCar reads the tacho counters the Car class from Lesson 2 has been extended with a method counter, Lego nxt balancing robot.

A similar setup can be used to make it possible to choose parameters for the balance controller from a GUI on the PC. Self-balancing robots with color sensor The NXT Segway with rider, [7], use a color sensor to measure the position of the robot.

Try that as an alternative to the light sensor. And mayby the physical structure of this robot is better that the structure in [3] and [4]. Lego nxt balancing robot it is worth to try lego nxt balancing robot. Self-balancing robots with gyro sensor Both the robots in [2] and [3] use the light sensor to measure the tilt of the robot by measuring the distance to the surface.

In [5] and [6] other more reliable types of sensors are used to measure the tilt of the robot during balancing. One such sensor is the HiTechnic gyro sensor, [8], [9]. Investigate the readings from the gyro sensor and how they relate to the motion of the gyro sensor. As a simple tool for such an investigation use the program GyroTest.

Estimate the offset of the gyro sensor, [9], [10], when the sensor is not moving and experiment with the gyro sensor drifts e. Self-balancing robot with light sensor Use the LEGO model suggested by Phillippe Hurbain, [3], and the java program from Brian Bagnall, [4] to start experiments with a self-balancing robot. Try to follow some lego nxt balancing robot his advices. Choice of parameters on-the-fly During the development of a balancing robot a lot of adjustment of constants is needed.

This can be done by editing the Java source code, compile lego nxt balancing robot transfere it to the NXT before the next trial. To speed up this trial and error process a wireless communication could be established between PC and NXT so the constants of the program can be changed on-the-fly.

In [9] it is described how an angle can be obtained from the gyro sensor readings.

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