you they do not share how to build- showing instruction just takes a minute- i bought nxt i can't build any other cool things except those boring humanoid spider- three wheel stupid car?? come on guys make it worth
Very impressive. We have just done a project ourselves based on your work. However we never did manage to get the controller to work reliably enough. We did the coding ourselves as part of a real-time control/embedded systems course (grad level). The main problem that everyone had great trouble with was countering the gyro drift of the lean_angle due to integration. Quantization error and measurement noise gets integrated. After 30 sit has drifted 10+ degrees. What did you do to counter this?
I tried PI control on a low_pass_of(gain1*rate_gyro + gain2*accelerometer), and my bike can only stay stable for 2 sec before the front fork starts vibrating crazily :(. I'm going to remove the I (integral) term and see how a single P works. Thanks a lot jmutsaerts!
I think I quite get the bicycle work.but I didn't use the nxt bike to do my job,I use the real bike and Microcontroller with gyro.well the bike can balance by itself but it can't be controlled the steering.
you they do not share how to build- showing instruction just takes a minute- i bought nxt i can't build any other cool things except those boring humanoid spider- three wheel stupid car?? come on guys make it worth
norbu1987 11 months ago
Very impressive. We have just done a project ourselves based on your work. However we never did manage to get the controller to work reliably enough. We did the coding ourselves as part of a real-time control/embedded systems course (grad level). The main problem that everyone had great trouble with was countering the gyro drift of the lean_angle due to integration. Quantization error and measurement noise gets integrated. After 30 sit has drifted 10+ degrees. What did you do to counter this?
genericUser1994 11 months ago
Comment removed
bzbzbz7779 7 months ago
Hello Joep. That is fantastic.
Can you provide the instructions to build the bike? Is it true it's just the "steer into the undesired fall" ? Unbelievable!
epokh64 1 year ago
Hello jmutsaerts,
I've done it right now for you advice
so Thanks a lot.
you can see my bike at my channel
impet14 1 year ago
Comment removed
impet14 1 year ago
ok, so let me know if you get it to work! My advice:
P control on lean_angle_rate setpoint =0
P control on lean_angle (integrate the rate), setpoint = gamepad input
jmutsaerts 1 year ago
@jmutsaerts
I tried PI control on a low_pass_of(gain1*rate_gyro + gain2*accelerometer), and my bike can only stay stable for 2 sec before the front fork starts vibrating crazily :(. I'm going to remove the I (integral) term and see how a single P works. Thanks a lot jmutsaerts!
bzbzbz7779 7 months ago
I think I quite get the bicycle work.but I didn't use the nxt bike to do my job,I use the real bike and Microcontroller with gyro.well the bike can balance by itself but it can't be controlled the steering.
impet14 1 year ago
Could be done by offsetting the lean angle with gamepad input. I haven´t tried it though. Did you get the bicycle to work?
jmutsaerts 1 year ago
Could you tell me how to steer the robot ?As I make another one but I can't.
impet14 1 year ago
good job
impet14 1 year ago
super cool!
oalaio 1 year ago
Nice job.
preedalist 1 year ago
Tof ;)
ejay123456789 1 year ago