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--- marvin:lab11 [2008/11/28 09:34] – deva
+++ marvin:lab11 [2008/11/28 10:56] – deva
@@ Line 1: / Line 1: @@
-===== Lab report 11=====
+======Lab report 11======
 **Date:** November 28th 2008\\
 **Duration of activity:** 8-12\\
 **Participants:** Kasper, Bent and Johnny\\
-====Project Goal====
+=====Project Goal=====
 Make detailed description of the end course project.
-====Plan====
+=====Plan=====
   * Make short description of the project.
   * Describe hardware/software platforms to be used.
   * Find problems to be expected during the project.
   * Make project time schedule for the project.
+  * Describe what will be expected to work at the end of the project.
-====Execution====
+=====Execution=====
+====Project description====
+Make a remote controlled LegWay using a gyro.
+====Software/Hardware====
+A HiTechnic((http://www.hitechnic.com)) gyro((http://www.hitechnic.com/contents/en-us/d24.html)), and some sort of blue tooth game controller or gamepad, is needed to make the project.\\
+The Pc should run some sort of application communicating with the robot for parameter tuning (GUI or CLI) probably through the LejOS PC API((http://lejos.sourceforge.net/nxt/pc/api/index.html)), and the robot should of course run LejOS.
-====Discussion====
-====Conclusion====
+====Problems====
+  * Figure out how to use the LejOS PC API((http://lejos.sourceforge.net/nxt/pc/api/index.html))
+  * Figure out how to make realtime communication with the NXT through bluetooth.((http://lejos.sourceforge.net/nxt/pc/api/index.html))((http://lejos.sourceforge.net/nxt/nxj/api/index.html))
+  * Figure out how to use the gyro((http://www.hitechnic.com/contents/en-us/d24.html)) (there might not be direct support through LejOS)
+  * Implement PID control((http://en.wikipedia.org/wiki/PID_controller)), and tune the parameters using the model in NXT-way GS model((http://lejos.sourceforge.net/nxt/pc/api/index.html)).
+  * Implement behaviour based driving to make the robot drive around and avoid obstacles.(([[http://www.ai.mit.edu/people/brooks/|Rodney Brooks]], A robust layered control system for a mobile robot, IEEE Journal of Robotics and Automation, RA-2(1):14-23, 1986, also [[http://people.csail.mit.edu/brooks/papers/AIM-864.pdf|MIT AI Memo 864]], September 1985.))
+  * Figure out how to get commands from the game controller((Eg. this one: http://www.avxperten.dk/gamingkonsol-tilbehoer/ps2-tilbehoer/traadloes-controller-ps2---med-vibration.asp)).
+  * Implement behaviour that takes control of the robot when commands are sent from the game controller.
+====Schedule====
+====Product====
+=====Links=====
+  * [[http://www.hitechnic.com/contents/en-us/d24.html|Where to buy a gyro (HiTechnics.com)]]
+  * [[http://lejos-osek.sourceforge.net/videos.htm#NXTwayGS|OSEK analysis and implementation of a gyro balancer]]
+  * [[http://www.mathworks.com/matlabcentral/fileexchange/19147]]