 | | YAL, Yet Another LegWay —Philippe Hurbain
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| | | YAL: Yet Another LegWay ===...=== (2 URLs) Allen Foster> and (URL) Harold Jarvie> posts showed me that it was possible to build a LEGO-only self-balancing robot, inspired by the famous (URL) Steve Hassenplug's LegWay>. Here are some details of my (...) (20 years ago, 5-Feb-04, to lugnet.robotics, lugnet.robotics.rcx.legos, lugnet.announce, FTX) !!
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| | | | | Re: YAL, Yet Another LegWay —Steve Hassenplug
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| | | | | (...) This is really cool. It's great to see what everyone's done with a really simple idea. Very nice. Steve (20 years ago, 5-Feb-04, to lugnet.robotics, FTX)
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| | | | | Re: YAL, Yet Another LegWay —Tobbe Arnesson
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| | | | | Oooh! I know what I'll be building this weekend! Incredible well done, Steve showed the path and you guys walked it :) (20 years ago, 6-Feb-04, to lugnet.robotics)
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| | | | | Re: YAL, Yet Another LegWay —Ross Crawford
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| | | | | (...) Very nice, Philo. Looks very stable. I guess the next job is to get it to respond to the LEGO remote ;) You could even implement forwards/backwards by having the remote shift a weight on the LegWay!! ROSCO (20 years ago, 7-Feb-04, to lugnet.robotics, FTX)
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| | | | | Re: YAL, Yet Another LegWay —Chris Phillips
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| | | | | (...) I built one of these yesterday, and it works surprisingly well! I like the very simple design. Like Steve H's original LegWay, it requires very few parts. Although it is a little tricky to put it together. I found that the performance of the (...) (20 years ago, 7-Feb-04, to lugnet.robotics, FTX)
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| | | | | | | Re: YAL, Yet Another LegWay —Mike Fusion
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| | | | | | <snippage> (...) floors. (...) so (...) </snippage> i'm thinking that making a vertical frame to start it would help. something like two support barsthat are vertical in which you would put the YAL to start it off in a perfectly vertical position. (...) (20 years ago, 12-Feb-04, to lugnet.robotics)
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| | | | | Re: YAL, Yet Another LegWay —Steve Hassenplug
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| | | | | (...) Hey Philo, I was just looking over your code, and I think if you change this line: pid = (Kd * errdiff + Kp * err + Ki * errint) /3000l; to something like this: pid = (Kd * errdiff + Kp * err + Ki * errint) /3000l + ForwardOffset; then when (...) (20 years ago, 9-Feb-04, to lugnet.robotics, FTX)
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| | | | | | | Re[2]: YAL, Yet Another LegWay —Allen Foster
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| | | | | | Hello Steve, Monday, February 9, 2004, 8:55:11 PM, you wrote: (...) SH> Hey Philo, SH> I was just looking over your code, and I think if you change this line: SH> pid = (Kd * err_diff + Kp * err + Ki * err_int) /3000l; SH> to something like this: (...) (20 years ago, 9-Feb-04, to lugnet.robotics)
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| | | | | | | | Re: Re[2]: YAL, Yet Another LegWay —Philippe Hurbain
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| | | | | | (...) Hi Steve and Allen, I already tried what you suggested, but I had only mixed results: either too little moves or unstable and uncontrolable ones. Perhaps also my PID coefficients, determined by trial and error, are not so good... I'd like to (...) (20 years ago, 10-Feb-04, to lugnet.robotics)
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| | | | | | | | [Q] Remote control code ? —Kitak Ahn
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| | | | | | Hi Philo,Steve and Allen. I've made a YAL right after reading the articles of you all. It's great and very fun. After tuning some papameters, it is working so well. My Lego has been in a dark corner of my room so long time. New BrickCC/BrickOS help (...) (20 years ago, 21-Feb-04, to lugnet.robotics)
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| | | | | | | | Re: [Q] Remote control code ? —Jordan Bradford
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| | | | | | I'm lazy . . . would someone please write a version of the program that works with the LEGO remote control? Using the remote control is cooler than driving it with a flashlight. And with a flashlight you can't make it turn. (20 years ago, 31-Mar-04, to lugnet.robotics, FTX)
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| | | | | | | | Re: [Q] Remote control code ? —Jordan Bradford
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| | | | | | (...) Okay, I tried writing it anyway. It doesn't work, and I think it's because I'm not changing the motor speeds. All I'm doing is changing motor directions. Help me out, please, since I spent the time to install BrickOS in BricxCC and learn the (...) (20 years ago, 31-Mar-04, to lugnet.robotics, FTX)
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| | | | | Re: YAL, Yet Another LegWay —Maurits Kooiman
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| | | | (...) (17 years ago, 12-Nov-06, to lugnet.robotics, FTX)
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| | | | | | Re: YAL, Yet Another LegWay —Philippe Hurbain
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| | | | (...) Whaoooo! impressive!!! Philo (17 years ago, 12-Nov-06, to lugnet.robotics, FTX)
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