Content originally posted in LPCWare by Rob65 on Sat Jan 14 00:29:59 MST 2012
Quote: NXP_USA
Quote: LPCVictoria
Some cool! Put a wee weight on one side to make it go forward!
David
Nah it would probably just tilt and stand back up :-)
Indeed.
The control loop likely wants to keep the board (and sensor) horizontal, moving just a little bit forward and then balance it again.
Moving forward is more like controlled falling. Think of holding a stick in your hand (pointing up). As soon as it starts falling you move a bit to keep it from falling. When you want to move forward (with some speed) you let the stick fall until it leans into the direction you want to move far enough and then start moving, keeping the stick at a certain angle for a certain speed.
To get the bot to move I think you need just a second control loop that converts the wanted speed in an angle the platform should be at.
The difficult thing is that as soon as it starts moving the acceleration sensor not only reports the angle of the board; it's being compensated by the forward motion.
Regards,[INDENT]Rob
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