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Subject: 
Re: Angle Sensor
Newsgroups: 
lugnet.robotics
Date: 
Sun, 28 Mar 1999 18:11:54 GMT
Original-From: 
Michel Verhagen <mive@xs4all.nl/SayNoToSpam/>
Viewed: 
1032 times
  
Your missing one very important fact here:

With the equations you gave, the pole can't be a variable size, can it?

Anyway, of course all problems solved with fuzzy logic can be solved using
"normal" equations, but I'm a student and I'm now following a course on
Fuzzy Logic. The points for this course can be acquired by an exam or a home
made project, uhm tough choise when you have the Mindstorms kit....

I will try both solutions, Fuzzy and Clear, let's see if it works, just for
fun cause that's what mindstorms is for, ain't it ?


Greetz,

    Michel


-----Oorspronkelijk bericht-----
Van: S. Crawshaw <sc10003@eng.cam.ac.uk>
Aan: lego-robotics@crynwr.com <lego-robotics@crynwr.com>
Datum: zondag 28 maart 1999 17:19
Onderwerp: Re: Angle Sensor


On Sat, 27 Mar 1999, Michel Verhagen wrote:

Well, then I guess I need to build my own rotation sensor using a • "Potmeter"
(variable resistor) because I need a real angle, actually I need an angle
per time value. Is this is possible?

So long as your software remembers to count the revolutions, it's surely
very simple to gear the Lego sensor to get a real angle...  however for
your idea below, you might need much too much gearing!

Did someone ever tried to balance a long broom on his hand or finger? I'm
creating a car that does just that using fuzzy logic...

You shouldn't need fuzzy logic to do this; it's a fairly well-known
control problem - easily controllable like this:

motor input =  k1 * angle + k2 * rate of angle
            + k3 * car position + k4 * car speed

where you need to find k1, k2, k3, k4 (which will depend on your setup)

This will allow you to keep the broom balanced, plus make the car stay
(roughly) in a chosen place (give or take the motion necessary to keep
the broom balanced)

I was going to try this, but haven't got an angle sensor yet...

===============================================================
Stuart Crawshaw
Control Group
Engineering Dept
Cambridge University


--
Did you check the web site first?: http://www.crynwr.com/lego-robotics


--
Did you check the web site first?: http://www.crynwr.com/lego-robotics



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