Gyro Sensor Two Wheels with Mindstorms

[Backtotree]

I tryed P, PI, PID,- filter. I couldn´t make him stable. Best I had was 2 minutes. After that the drifting of the zero point was too high and the robot goes more and more in one direction.

Seems to be that only me has this kind of problem. Perhaps my sensor was not ok. Who knows. I made same with light sensor but with ROBOTC (another program language).No problems.

I wasted so much time to get it working with gyro. I couldn´t belive that it should be so difficult.

THANKS for Reply

[malito69]

@Backtotree The solution is the PID tuning first the P, next D, and final the Integrator.

You dift grow because you have to correct the drift meanwhile the bot balances, so Theta=0,99*Theta+0,01*Theta_pa­st;

Once you get It, you will see It's is very easy.

[Backtotree]

Ofcourse, but the drifting is not linear. I had tryed to avoid the drifting by compensate. But this is not working. Finally I was reading that this kind of gyros need some filter. For example: Kallman Filter. This filter is quite tricky. Cant belive that everybody is using that kind of filter but same time say nothing about that.

BR Backtotree

[tarribas]

@Backtotree You only need a IIR filter like a=0,99a+0,01a' Its all.

[Backtotree]

I use LabVIEW.

It´s terrible. After setting the offset, the gyro lose them after few cycles. The zero-point drift depends how big is the Ki value.

Any idea?

[tarribas]

Its very important to stimate the bias in real time continously

[malito69]

@Backtotree You have to understand de drift of the Gyrosensor.

[DronElektron]

Gyro sensor... i think

[CrazyMonkey124]

I remember when all legos were good for was to build castles. Now they can fly to the moon.

[Tubajock2]

is that the exelerometer senser?!

[malito69]

The accelerometer is not an apropiated sensor due the amount of considerations around acceleration issues of the dynamic problem.

My recomendation is the GyroSensor.

[tobias94530]

Witch Software do you use plz answer me I am lost

[malito69]

My recomendation is RobotC or NXC.

[MeOODK]

wow lego came a long way i must say

[Frog2Dude]

What Language did you use?

[malito69]

RobotC, NXC or NBC any language is usefull.

[tarribas]

GyroSensor is a Gyroscope sensor based in a quartz torsion (piezoelectric) wire that give us the rotation angle in one axis.

[kapu995]

What is gyro sensor and where did you get it?

[bubbamc119]

They're on the mindstorms website. Part number MS1040