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laurensvalk / segway

Code for robots balancing on two wheels, made with various robotics platforms.
MIT License
42 stars 22 forks source link

imperfect balancing and only for some time #14

Closed BertLindeman closed 7 years ago

BertLindeman commented 7 years ago

As suggested by @laurensvalk in #11

Hardware:

Running EV3 brick with LEGO reloadable battery and HiTechnic Gyro sensor

Software:

System info (from ev3dev-sysinfo)

Image file:         ev3dev-stretch-ev3-generic-2017-10-24
Kernel version:     4.9.58-ev3dev-1.6.0-ev3
Brickman:           0.10.0
ev3devKit:          0.5.2
Board:              board0
BOARD_INFO_HW_REV=7
BOARD_INFO_MODEL=LEGO MINDSTORMS EV3
BOARD_INFO_ROM_REV=6
BOARD_INFO_SERIAL_NUM=0016535166E2
BOARD_INFO_TYPE=main

Using segway.py and parameters.py at a previous commit

Symptoms:

The robot does balance but only for some seconds.

Environment:

Robot runs on carpet so it does not fall too hard ;-)

Progress:

Will test later on harder floor

laurensvalk commented 7 years ago

Robot runs on carpet so it does not fall too hard, Will test later on harder floor

Ah - good point. I should probably point out in the code that the provided values are for hard surfaces such as a wooden desk or tile floor.

BertLindeman commented 7 years ago

Will add though that the EV3-G project did not have this problem in the same soft floor. But that configuration does not run debian services in the background.

Not sure if this has an impact here: running the segway.py via ssh-wifi connection.

laurensvalk commented 7 years ago

Ok thanks for that additional information.

WiFi can be a factor. You could boot the EV3 without the WiFi dongle and try running it from brickman to see if there is much difference.

BertLindeman commented 7 years ago

Done hard / soft floor and WIFI/NoWIFI tests. WIFI does have an impact and soft floor does too. To see for yourself I uploaded a youtube movie showing the four situations.

UPDATE: youtube video uploaded

laurensvalk commented 7 years ago

:tada: :tada: :tada: :tada: :tada:

Thanks for sharing! For now I am going to call that an absolute success (the case without WiFi on a rigid floor), and you are welcome to join us over at this issue :-)

BertLindeman commented 7 years ago

Close this one, if there come more recommendations they will come in issue #10

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