Subject:
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Re: YAL, Yet Another LegWay
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Newsgroups:
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lugnet.robotics
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Date:
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Sat, 7 Feb 2004 22:18:38 GMT
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Viewed:
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2677 times
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In lugnet.robotics, Philippe Hurbain wrote:
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YAL: Yet Another LegWay
Allen Foster and
Harold Jarvie posts showed me that
it was possible to build a LEGO-only self-balancing robot, inspired by the
famous Steve Hassenplug’s
LegWay.
Here are some details of my implementation, using two regular light sensor to
monitor YAL inclination.
The code is a simple PID algorithm
implemented in BrickOS, direct translation of
Allen Foster code. The input comes
from front and back light sensors difference, the output is applied to both
motors.
Yal works best with diffused overhead lighting and doesn’t like at all
lateral lights (windows)
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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 robot is highly dependent on a couple of
factors:
- Solid-color, bright or white floor seems to work better than patterned floors.
- You have to hold the robot perfectly vertical when you start the program so that it gets a good “offset” reading between the two light sensors. The better you do this, the better the resulting balance.
- Works best in a dark room with no lights pointing directly at the robot.
Very nice job! It makes me want to add some code to make it move around and
chase the cats.
I have to second this. John has done a very nice job with BricxCC. He has also
made it possible for me to finally get a working GCC installation with BrickOS
on my Windows 98SE machine. Thanks, John!
- Chris.
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Message has 1 Reply:
 | | Re: YAL, Yet Another LegWay
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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. (...) (21 years ago, 12-Feb-04, to lugnet.robotics)
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