[XCSSA] Stumbling robot...

[X-otic Computer Systems of San Antonio]

Well, the robot is re-designed so now nothing works... ;-)

For the first design I just took a wild guess at the PID parameters and 
it worked pretty well.
This time I'm trying a more scientific approach and seem to have a lot 
more problems getting it balanced...

Hopefully I can get it working over the weekend and bring it in on Monday...

/Fredrik

X-otic Computer Systems of San Antonio wrote:
> Oh man that's super awesome! You'll have to bring this guy in when you  
> have it finished! That's gotta be a site to see in person...
>
> On Jan 12, 2009, at 3:28 PM, X-otic Computer Systems of San Antonio  
> wrote:
>
>   
>> I have seen a few of these self balancing robots made with the Basic
>> Stamp but not with the Propeller.
>> So here is my version of the so called "Inverse Pendulum" robot...
>>
>> Still need some tweaking but it looks like it's doable...
>> There is no gyro or accelerometer on the bot, in stead there is an  
>> ultra
>> sonic distance sensor that measures the distance to the floor and  
>> tries
>> to keep the balance that way.
>> The distance is measure every 20 ms and then a PID control is used to
>> control the motors.
>>
>> Pretty fun weekend project...
>>
>> Picture,
>> http://i385.photobucket.com/albums/oo298/fsafstrom_2008/100_0091.jpg
>>
>> Video,
>> http://s385.photobucket.com/albums/oo298/fsafstrom_2008/?action=view&current=100_0104.flv
>>
>> /Fredrik
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>>     
>
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