Regbot balance details: Difference between revisions

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* 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.
Line 40: Line 41:


[[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 ===


[[file:aya_balance_08.png | 500px]]
[[file:aya_balance_08.png | 500px]]
* 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.
[[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, about 5 cm is missing.
* 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 ===
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[[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.
* 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]]

Latest revision as of 10:45, 8 December 2025

Back to Regbot

Getting to balance

The double-click balance function is tested on some robots.

The robots are not totally equal:

  • The balance point varies by about 5 degrees.
  • One robot has a line-sensor board that gives a more even weight distribution.
  • 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 mission is 

thread=1
  log=2:time=0.01
  topos=0,bal=1,vel=0.35:time=4.99
  bal=0:time=1.5

The robot should, with this mission, get back to the start position after achieving balance. The maximum allowed speed when in balance is set to 0.35 m/s.

  • The first 1 second is the most interesting. The robot has to move between 10 and 20 cm to get into balance. It takes about 3-4 seconds to get back to the start position,
  • The balance point is calibrated to be 0 degrees. At this angle, the robot leans forward to compensate for the heavy back end caused by the control PCB.
  • The front end will hit the floor if the tilt angle gets above about 20 degrees.


26 Mille

  • 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

  • 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

  • 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.

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

60 Birte

  • 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

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