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--- marvin:marvin [2008/11/28 08:24] – deva
+++ marvin:marvin [2009/01/28 10:03] – deva
@@ Line 1: / Line 1: @@
+<texit info>
+author=Johnny Rieper, Bent Bisballe Nyeng and Kasper Sohn
+title=Marvin - The Balancing Robot.
+</texit>
 =====Marvin NXT=====
@@ Line 16: / Line 22: @@
   * [[marvin:LAB8]] November 7th 2008: Behavior control
   * [[marvin:LAB9]] November 14th 2008: TACHO
-  * [[marvin:LAB10]] November 21st 2008: Behaviour-based architecture
+  * [[marvin:LAB10]] November 21st 2008: Behavior-based architecture
   * [[marvin:LAB11]] November 28th 2008: Planning of the end course project
+====End course project====
+  * [[marvin:ecp0|Introduction]]
+  * [[marvin:ecp1|Lab session 1]]: Make robot able to communicate with gyro.
+  * [[marvin:ecp2|Lab session 2]]: Make balancing robot with gyro, using mathematical modeling and PID parameter tuning.
+  * [[marvin:ecp3|Lab session 3]]: Make robot able to drive at a predefined pattern.
+  * [[marvin:ecp4|Lab session 4]]: Make drive autonomous, avoiding obstacles, using a behavior model.
+  * [[marvin:ecp5|Lab session 5]]: Make robot remote controlled through bluetooth.
+  * [[marvin:ecp6|Discussion and Conclusion]]
+See the entire end course project report [[marvin:ecp_all|here]].
 ====Links====
   * [[http://legolab.daimi.au.dk/DigitalControl.dir/index.html|Offcial course pages]]
+======NOTES======
+  * pwm (set motor power) in % (find max power, use 70% of this as 100% pwm power)
+  * Rotary encoder (read tacho counter from motor in degrees), convert to radians internally.