Regbot balance details

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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 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

32 Signe

42 Aya

60 Birte

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

72 Emilia