Subject:
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Re: LejWay (Re: Legway with Standard Lego Light Sensors)
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 17 Mar 2004 20:34:39 GMT
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Viewed:
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1580 times
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Bonjour Jürgen,
> that was the straw that finally made me program LejWay,
> a Lejos version. The hardware is the same with two sensors,
> and the program is loosely based on yours. Tweaking was not easy,
> but with a little luck the program below now manages to stand on
> a sheet of white paper for long periods of time (several minutes).
I just tried LejWay, it works fine! (it was also the opportunity to install
Lejos under BricxCC. Works great too...). The behaviour is somewhat different
from BrickOS version, less shaky but it falls if tilt angle is too high. I think
max power can't be reached on the motors, so it can't recover if leaning too
much (or stand up by itself).
I see that you have added a decay factor on integral term. Did you get better
stability with it, or did you introduced it to avoid overflow?
Philo
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Message has 1 Reply:
 | | Re: LejWay (Re: Legway with Standard Lego Light Sensors)
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| Hi Philippe, (...) nice to hear, for me it didn't work any more when it was darker. I would like to have some automatic calibration of the parameters to be more robust w.r.t. conditions, but I guess that is difficult. (...) Yes, probably one could (...) (20 years ago, 18-Mar-04, to lugnet.robotics)
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