Disappointed with gyro

[Midas]

I'm disappointed with gyro... I received it yesterday, installed, and...

Actually I did expect more stability in walking and running. However what I got is only more robot shaking and annoying noise of servos. Now Robonova can't even sit.

I tried several GYROSET/GYROSENSE examples taken from this forum and the Internet, I played with gain level, however none of them satisfied me
What I think is that RN does not need a gyro.

[visuvius]

I was a bit disappointed at first as well but after I played around with the positioning of the gyro and sensitivity settings (both on the gyro and in robobasic) I was pleasantly surprised with the results. Its pretty fun pushing him forward and seeing him compensate.

But yes I agree with you, RN does not need a gyro and the stability affects are minimal.

[Voelker]

I had a first gyro on my robot, a cheap one bought on ebay (copy of the GWS) and it didin't work wel (shaking a lot and not responding well). But i just got a true gws gyro and it seems to work a lot better. The thing i noticed about gyro, is that it increases a lot the power comsumption.

[Pev]

I use the GWS and I have to say was a little disappointed at first - but all I can suggest is tune tune tune! I had the sitting issue and a lot of additional shake but careful tuning of the sensitivity and gain on the GWS seemed to sort it.

I have posted these before but.........

http://robosavvy.com/Builders/Pev/RN1-NoGyro.wmv
http://robosavvy.com/Builders/Pev/Rn1-Gyro.wmv
http://robosavvy.com/Builders/Pev/Pushme.wmv

Pev

[Midas]

Thanks for the comments, guys! Seems I have to try a bit more
Probably lower values are better.

[i-Bot]

The gryo is a challenge to set up.

The zero point setup on the red/green LEDs on the gyro is not usually the zero point for the RoboNova software. Set zero based on motion, not LED.

The gain pot on the GYRO determines the ouput range. Too much gain will exceed the input range on the Robonova software, and it does not handle this gracefully, so gain pot must be low enough to avoid wild movements when RN1 is rocked back and forth.

The Gyro sensitivity setting in the software, determines the rate at which gyro makes changes to servos, A sort of integrator time constant setting. 127 is half the speed of 255, 63 is a quarter of the speed etc.

I agree the Gyro does not make a big difference.

Once you have it set up, the next challenge is to decide when to enable/disable it in your moves.

[Robo1]

I would say.

"less is definitely more"

You want to set it up so that if you push the robot it should gracefully respond and not oscillate. and then study it when it's walking if it makes it shake when walking set it lower sill.

Bren

[Midas]

Thanks everyone for your advice! Finally I found acceptable (for me) settings. Now my Robonova became more stable and I'm not disappointed anymore

GYROSET G6A, 0, 1, 1, 0, 0, 0
GYROSET G6D, 0, 1, 1, 0, 0, 0

GYRODIR G6A,0,0,1,0,0,0
GYRODIR G6D,0,0,1,0,0,0

GYROSENSE G6A, 0,250,50, 0, 0, 0
GYROSENSE G6D, 0,250,50, 0, 0, 0

Gyro (click to zoom):


Video: http://youtube.com/watch?v=L8bNsADH-Og

And sure, you must disable the gyro in some moves.