marvin:lab4
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marvin:lab4 [2008/10/03 10:39] – rieper | marvin:lab4 [2008/10/03 11:34] – rieper | ||
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+ | ====Conclusion==== | ||
+ | The main problem in balancing the robot seemed to be the fluctuations of the light sensor. We used three approaches to limit the fluctuations by changing the environment, | ||
+ | Another problem was the oscillations, | ||
+ | |||
+ | ====Future Improvements==== | ||
+ | In order to further reduce the oscillations we may read the tachometers on the motor. In this way we might be able to add these readings to the control loop and improve the control of the oscillaitons. There was one bug in the program we could not fix. Every ten seconds or so, the program got stuck for a second, which of course tripped the robot. We were unable to resolve this problem. | ||
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marvin/lab4.txt · Last modified: 2008/10/03 11:39 by rieper