RoboPlus Motion and Task Simple Tutorial

[UncleBob]

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[marcdimmick]

Thank you very much Uncle Bob that was really great. I know have a far better understanding and am able to really get going.

Would love to see the routines that you would right using the gyro and how that works.

But 10 out of 10 for this video.

Thank you.

[marcdimmick]

I noticed that the sensors in the head and chest of your robot were light up. Mine are not. Is that a case that the sensor is not working? I know the chest one works as the robot moves when in range of an object.

[UncleBob]

The light in the head belongs to the zigbee. The chest sensor do not light.

I tried the gyro walking task. I can't really tell if it makes any difference walking with or without gyro program.

I modified the code to impose gyro stablisation to a standing pose. Not very good since it is a rate gyro and not a head lock gyro. I don't think these are very good gyros compare to the one I am used to for helicopters. Too much noise maybe. The robot starts to oscillate more and more so no good.

My next try is to read the servo position on the ankle and use it as a head lock gyro then offset the arms to balance a one foot stand. Let me see how that goes.

[billyzelsnack]

Heli headlock gyros are just regular rate gyros with some additional processing on the data. The oscillations you are getting are just like you would get on your tail with improperly adjusted gain.

Your post reminded me.. I made this a while ago..

http://robosavvy.com/forum/viewtopic.php?p=23370

It was a fun little project. I really should revisit it.

[UncleBob]

Um In may experiement it does not move enough when I push it hard and it oscillate still. I can try an exponential function or use arm to balance instead.

[robots199]

Great Tutorial/Walkthrough.