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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Thu, 18 Mar 2004 15:27:31 GMT
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Viewed:
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1685 times
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Hi Philippe,
"Philippe Hurbain" <philohome@free.fr> writes:
>
> I just tried LejWay, it works fine!
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.
> 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).
Yes, probably one could be more clever with the timing,
like keeping the motors running during the computation if needed.
To have something easy and uniform I assumed that the computation
takess less than 2ms, during which the motors are always off.
> 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?
This helps to recover after it has fallen, otherwise the integral
goes too far off and I have to stop and restart the program.
Jürgen
--
Jürgen Stuber <stuber@loria.fr>
http://www.loria.fr/~stuber/
gnupg key fingerprint = 2767 CA3C 5680 58BA 9A91 23D9 BED6 9A7A AF9E 68B4
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Message is in Reply To:
 | | Re: LejWay (Re: Legway with Standard Lego Light Sensors)
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| Bonjour Jürgen, (...) 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. (...) (20 years ago, 17-Mar-04, to lugnet.robotics)
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