Mindboards

Hi all !

I've just finished my second attempt for a segway type NXT robot which can stands up by itself and balance. It is also able to lie down.
Look at my video. It shows standing up sequence, 10 seconds balance with lever retracting then lie down sequence with releasing the lever.
I am using Hitechnic gyro and acceleration sensor. Acceleration sensor is used to determine vertical position. The values for vertical position were captured experimentaly. It works very reliable as opposit to my first design.


http://www.flickr.com/photos/charis997/5292983742/




regards
Charis

Great! That's cool

Wow, that is Awesome!

That's very cool. Would you mind posting your code so people can see what you did ?

- Xander

Hi Xander , hi all

Here is the code.
https://docs.google.com/uc?id=0B-sJxpsF ... d&hl=en_GB
Description and comments inside the code should be sufficient to understand the solution.
Questions are welcomed, comments will be appreciated.

Charis

Wow. That is very cool. That is the best segway I have ever seen!

Considering I just got my mindstorms set this Christmas, I think this is risky business. I just keep thinking your nxt may topple over and smash on the floor!

Nice work!

Notice though, that if it did fall over, the NXT wouldn't touch the floor. There are pieces that stick out on both sides. Also, the whole thing is probably only 10 or so inches tall, not very far to fall.

Of course it fell over. More times during software tuning. "BigWay" is my second model. First one fell over quite often.
Some other segway robots are using gum parts to soften the fall. Nevertheless NXT brick is not so fragile and successfully survived all my experiments.

I've had my segway robots run right off the table at full speed at demos That's about 3ft down and I've never broken an NXT...yet.

- Xander