Regbot balance details - Revision history

Jca: /* Getting to balance */

2025-12-08T09:45:28Z

Getting to balance

← Older revision		Revision as of 11:45, 8 December 2025
Line 9:		Line 9:
	* One robot has a line-sensor board that gives a more even weight distribution.		* One robot has a line-sensor board that gives a more even weight distribution.
	* The motor parameters vary.		* The motor parameters vary.
			* The controller parameters are the same for all robots.

	The Robots are placed on all three wheels. This is the most challenging start position to get into balance.		The Robots are placed on all three wheels. This is the most challenging start position to get into balance.

2025-12-08T09:41:40Z

42 Aya

← Older revision		Revision as of 11:41, 8 December 2025
Line 54:		Line 54:
	* The mission stops after 5 seconds.		* The mission stops after 5 seconds.
	* The (dashed cyan) do not get back to zero within this time, about 5 cm is missing.		* The (dashed cyan) do not get back to zero within this time, about 5 cm is missing.
	* It takes almost one second before the front hits the ground (at 22 degrees).		* After the mission stops at 5 sec, it takes almost one second before the front hits the ground (at 22 degrees).

	=== 60 Birte ===		=== 60 Birte ===

2025-12-07T16:14:05Z

42 Aya

← Older revision		Revision as of 18:14, 7 December 2025
Line 47:		Line 47:
	[[file:aya_balance_08.png \| 500px]]		[[file:aya_balance_08.png \| 500px]]

	* The motor current starts at about 3A for this robot. ~~This~~ gives a fast acceleration.		* The motor current starts at about 3A for this robot. High current gives a fast acceleration.
	* After 0.29 seconds, the front of the robot hits the floor. The Gyro signal (thin blue) goes fast to zero at this point.		* After 0.29 seconds, the front of the robot hits the floor. The Gyro signal (thin blue) goes fast to zero at this point.

Line 53:		Line 53:

	* The mission stops after 5 seconds.		* The mission stops after 5 seconds.
	* The (dashed cyan) do not get back to zero within this time.		* The (dashed cyan) do not get back to zero within this time, about 5 cm is missing.
	* It takes almost one second before the front hits the ground (at 22 degrees).		* It takes almost one second before the front hits the ground (at 22 degrees).

2025-12-07T16:12:54Z

60 Birte

← Older revision		Revision as of 18:12, 7 December 2025
Line 61:		Line 61:

	* Birte has the additional line-sensor board and, therefore, the lowest start angle.		* Birte has the additional line-sensor board and, therefore, the lowest start angle.
			* The balance point is almost symmetrical, i.e. the front will hit the floor at about +30 degrees.

	=== 72 Emilia ===		=== 72 Emilia ===

	[[file:emilia_balance_08.png \| 500px]]		[[file:emilia_balance_08.png \| 500px]]

2025-12-07T16:10:41Z

42 Aya

← Older revision		Revision as of 18:10, 7 December 2025
Line 49:		Line 49:
	* The motor current starts at about 3A for this robot. This gives a fast acceleration.		* The motor current starts at about 3A for this robot. This gives a fast acceleration.
	* After 0.29 seconds, the front of the robot hits the floor. The Gyro signal (thin blue) goes fast to zero at this point.		* After 0.29 seconds, the front of the robot hits the floor. The Gyro signal (thin blue) goes fast to zero at this point.

			[[file:aya_balance_08_6sec.png \| 500px]]

			* The mission stops after 5 seconds.
			* The (dashed cyan) do not get back to zero within this time.
			* It takes almost one second before the front hits the ground (at 22 degrees).

	=== 60 Birte ===		=== 60 Birte ===

2025-12-07T16:05:56Z

60 Birte

← Older revision		Revision as of 18:05, 7 December 2025
Line 54:		Line 54:
	[[file:birte_balance_08.png \| 500px]]		[[file:birte_balance_08.png \| 500px]]

	60 Birte has the additional line-sensor board, ~~and~~ therefore the lowest start angle.		* Birte has the additional line-sensor board and, therefore, the lowest start angle.

	=== 72 Emilia ===		=== 72 Emilia ===

	[[file:emilia_balance_08.png \| 500px]]		[[file:emilia_balance_08.png \| 500px]]

2025-12-07T16:04:51Z

42 Aya

← Older revision		Revision as of 18:04, 7 December 2025
Line 46:		Line 46:

	[[file:aya_balance_08.png \| 500px]]		[[file:aya_balance_08.png \| 500px]]

			* The motor current starts at about 3A for this robot. This gives a fast acceleration.
			* After 0.29 seconds, the front of the robot hits the floor. The Gyro signal (thin blue) goes fast to zero at this point.

	=== 60 Birte ===		=== 60 Birte ===

2025-12-07T16:00:01Z

32 Signe

← Older revision		Revision as of 18:00, 7 December 2025
Line 40:		Line 40:

	[[file:signe_balance_08.png \| 500px]]		[[file:signe_balance_08.png \| 500px]]

			* Signe has the biggest start-angle, but avoids in this case to hit the floor with the front, but very close to the +20 degrees.

	=== 42 Aya ===		=== 42 Aya ===

2025-12-07T15:58:32Z

26 Mille

← Older revision		Revision as of 17:58, 7 December 2025
Line 29:		Line 29:
	[[file:mille_balance_08.png \| 500px]]		[[file:mille_balance_08.png \| 500px]]

	The robot tilt (fat red) starts at -32 degrees. At 10ms, the motor voltage (fat yellow) saturates at -9V ~~to give the~~ acceleration ~~backwards~~ to ~~get into~~ balance. The motor current (thin purple)		* The robot tilt (fat red) starts at -32 degrees.
			* At 10ms, the motor voltage (fat yellow) saturates at -9V, providing backwards acceleration to reach balance.
			* The motor current (thin purple) gets up to about 2A.
			* The tilt velocity (thin blue, called Gyro-y) increases as the robot gets closer to balance.
			* The tilt gets positive after about 0.13 seconds, and the velocity starts to decrease.
			* The position (dashed cyan) reaches its maximum of 16 cm after about 0.5 seconds.
			* When the velocity is close to zero, there are very few encoder ticks, and the robot starts oscillating a bit to get a reasonable velocity feedback.

	=== 32 Signe ===		=== 32 Signe ===

2025-12-07T15:43:49Z

26 Mille

← Older revision		Revision as of 17:43, 7 December 2025
Line 28:		Line 28:

	[[file:mille_balance_08.png \| 500px]]		[[file:mille_balance_08.png \| 500px]]

			The robot tilt (fat red) starts at -32 degrees. At 10ms, the motor voltage (fat yellow) saturates at -9V to give the acceleration backwards to get into balance. The motor current (thin purple)

	=== 32 Signe ===		=== 32 Signe ===