Oh, and good job! :) We also based out project on Mutsarts work, but did the programming ourselves (nxtOSEK which I guess you also use).Best result was gotten with a non-linear controller on the angular velocity, basically D-control. Which of course isnt stable for very long...
What kind of control did you use? We did the same project but never managed to get a reliable control. The main problem was the gyro drift, i.e. that the angle obtained through integration of the gyro output (which is an angular velocity) drifts off due to measurement noise and quantization error. Are you using some kind of lowpass filter? What controller? P or PD (on body tilt angle). What controller do you have for the steering motor?
@genericUser1994 Absolutely, I used the program from Mutsarts's work. I adjust the position of gyro senser for a suitable angular velocity. Afterthat, I only have reverse the front wheel, it can steering and stable as well.
@preedalist Wow so it was that easy for you? We didn't get it working good at all, but again we did the C-coding outselves (and not Mutsaerts code). What control for the steering wheel do you use? Mutsarts uses U_steer_motor = 8*lean_angle, which is a P-controller. Are you saying that you didn't have any problems with gyro drift? Or do you use the angular velocity directly for the steer motor? (i.e. D-control).
i would also like to buy such a robot i have learned a little bit nxc but the robot is too expensive ps: nice bike!
thefighter457 2 months ago
how did you program it??? its so hard!!!thanks for reply!!!
corvettelover10 7 months ago
@corvettelover10 I did not change the program. I downloaded the original file to nxt.
preedalist 7 months ago
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corvettelover10 7 months ago
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corvettelover10 7 months ago
@preedalist wait, you downloaded the file to the nxt, i couldn't. how did you???
corvettelover10 7 months ago
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corvettelover10 8 months ago
check my website
nxt-code.com
for more NXT projects
nxtcode 9 months ago
I'm going to build one, except I'm going to include a damper for the oscillation.
weurRTG 11 months ago
@weurRTG Good idea to making.
preedalist 11 months ago
Oh, and good job! :) We also based out project on Mutsarts work, but did the programming ourselves (nxtOSEK which I guess you also use).Best result was gotten with a non-linear controller on the angular velocity, basically D-control. Which of course isnt stable for very long...
genericUser1994 11 months ago
What kind of control did you use? We did the same project but never managed to get a reliable control. The main problem was the gyro drift, i.e. that the angle obtained through integration of the gyro output (which is an angular velocity) drifts off due to measurement noise and quantization error. Are you using some kind of lowpass filter? What controller? P or PD (on body tilt angle). What controller do you have for the steering motor?
Thanks for reply! :)
genericUser1994 11 months ago
@genericUser1994 Absolutely, I used the program from Mutsarts's work. I adjust the position of gyro senser for a suitable angular velocity. Afterthat, I only have reverse the front wheel, it can steering and stable as well.
preedalist 11 months ago
@preedalist Wow so it was that easy for you? We didn't get it working good at all, but again we did the C-coding outselves (and not Mutsaerts code). What control for the steering wheel do you use? Mutsarts uses U_steer_motor = 8*lean_angle, which is a P-controller. Are you saying that you didn't have any problems with gyro drift? Or do you use the angular velocity directly for the steer motor? (i.e. D-control).
genericUser1994 11 months ago
Awesome!
0CRAL 1 year ago
Awesome!!
TheDanDaves 1 year ago
The video name is wrong!
You wrote mindsTROMS!
Great bike!
Foka2650 1 year ago
@Foka2650 Thank you :)
preedalist 1 year ago
@preedalist how does it maintain balance? or is the weaving motion of the front wheel keeping it up?
inkybait 1 year ago
is it remote control
webkinzlovers1000 1 year ago
@webkinzlovers1000 The bike isn't use any remote control.
preedalist 1 year ago
fantastic!
chazzers77 1 year ago
Brilliant creation!
IAssemble 1 year ago
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impet14 1 year ago
Great !!! And A.W.E.S.O.M.E !!!!!!!!!!!!!!!!!!!!
robson1014 1 year ago
@robson1014 Thank you : )
preedalist 1 year ago