CoderZ is designed for tutors of all backgrounds. I recommend that you start here and modify your Segway only once you finish this tutorial — when you have a working Anyway Segway.Power up your STEM tutoring career. Although you can use any type of LEGO NXT Segway with this code, I am assuming you will use the ‘Anyway’ platform. Just find a command on the sheet to learn about it.This tutorial will show you how to use and modify RobotC program code to create a working LEGO NXT Segway that you can customize as you like. RobotC Reference Guide - Made by a PLTW teacher for use by students RobotC Sensor Guide - Made by a PLTW teacher for use by students RobotC Natural Language Guide - Another reference to using various commands.
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Click here for a tutorial for NXT-G. Database contains 1 DreamGEAR Shadow DGPS3-3866 Manuals (available for free online viewing or If you are not comfortable with RobotC or if you’re not sure what you’re doing, consider programming your Segway using the original LEGO NXT-G Software. User Manuals, Guides and Specifications for your DreamGEAR Shadow DGPS3-3866 Video Game Controller. Richard teaches robotics with both graphic programming and advanced level text-based coding language RobotC and Python for Continue reading 'Robokids DreamGEAR Shadow DGPS3-3866 Manuals & User Guides. He joined Robokids in 2018. He has strong IT background in his past working experience before he became a dedicated tutor on robotics education for young students.
LEGO MINDSTORMS NXT Anyway Robot (follow the instructions, then return here) Requirements and preparation: You can always return here, if you like. I’ve added comments to the programs that can replace this tutorial. Quick start (if you don’t like to read)Just download the programs and run.
To update, contact Mindsensors support) Mindsensors AbsoluteIMU-ACG (Sensor firmware 1.051. I am not affiliated with any of these vendors. When buying one of these, choose one that’s also suited for your other projects. All sensors work equally well for this balancing application. Requires one of the following Gyroscopic Sensors.
In RobotC, open “Segway-NoAction.c”. Getting started: Balancing for the first time:Before moving on to more advanced programs, we’ll first configure and run a simple program that will make the Segway balance and just stay in the same place. Segway Driver and Example code (Unzip all files in there to one folder on your computer)2. RobotC third party driver suite, version 3.1.1 or higher (Install as per instructions on that site!) If you are a new RobotC user, make sure you update the NXT firmware with RobotC
If you use the HiTechnic, Mindsensors or Microinifnity sensor, simply comment out the one from Dexter Industries and uncomment your sensor. Presently, this example is configured to work with the dIMU sensor from Dexter Industries. You use one of the first four lines to tell the program which gyro sensor you have. Now consider the following code fragment that you see in your example program:
When you’re done, press F5 (Compile and Download Program). The large RCX tyres are 84 mm in diameter. Use 56 mm for standard NXT 1.0 wheels. The default is 42 mm for standard NXT 2.0 tyres. Use your_wheel_diameter to let your code account for the robot’s wheel diameter. Plug your sensor cable into this port, or replace S2 by S1, S3 or S4.
The Segway driver has been programmed so that you won’t have to worry about balancing. For more explanation on how to control your Segway, proceed to the next section.Now that you’ve successfully got your robot up and running, customize the code to make the robot move around. This basic set of lines will form the core structure of your future programs based on this code.The main task in the most basic Segway program When you’re done clapping your hands in excitement, have a look at the main task of your code. If you use the IMU from Dexter Industries or Mindsensors or the Microinfinity Cruizcore , just hold your Segway upright and start the program. If you configured the program to use the HiTechnic Gyro, follow the on-screen instructions
You can use regular loop, wait and other expressions but controlling movement should not be done with regular motor controls. The comments in this file will tell you what you need to know for further customization. To get going quickly, open and run “Segway-Explanation(Wall-Avoidance).c”.
speed: This integer variable makes the Segway drive. There’s no strict limit here, but take steering = -20 as a sharp left turn, -10 as a soft left turn, 0 as no turning, and 20 as a sharp right turn. steering: This integer variable controls the tightness of the robot’s turn or its turn in place if not driving. Note that in using these, you are not directly controlling the motors, you’re just sending inputs to the actual control code. There are three variables that control the Segway’s movement.
Your robot will keep on doing what you specified it to do until you specify a different action (different values of speed and steering)!Segway Wall Avoidance Example. If you’re unsure about this one, just don’t modify it and you’ll be fine. When acceleration is set to, say, 30, it would take 2 seconds to accomplish the described new speed (50 – 30*1 – 30*1 = -10). If your speed is, say, 50 (set previously) and then you specify -10 as your new speed, this doesn’t happen instantly. acceleration: This integer controls the maximum acceleration your robot will do. For example, speed = 50 will make the Segway go forward, 0 is stand still, and -30 is an example of driving backwards.
If you use while loops for polling your sensor, be sure to add Wait statements (e.g. The example program illustrates this. When you have speed set positively to go forwards, the encoder value will decrease. Because the NXT motors are oriented ‘in reverse’, you should take into account the target position of the encoder. The robot will drive back and forth repeatedly between its starting position and another position. Run the “ Segway-Encoders.c” example program.
The error is the added total of these four error signals, each multiplied by a relative importance factor (a gain). Variance relative to the desired zero position could be considered as an error. In reality, they will always vary in time. Motor encoder speed: change of position in time (dy/dt, or: dy_dt)Ideally, when they’re each zero, the robot stands perfectly still and upright (take some time to think about this!). Motor encoder position: position of the wheels (position y)
These are the last three values in the illustration.Although the exact theory goes much further than this description, I encourage you to experiment with these values to see how you can change the balancing behavior. Again, each of these are multiplied by a relative weighing factor: kp, ki and kd respectively. Roughly speaking, this means the power applied to the driving motors is the sum of the total error (Proportional), the accumulated error in time (Integral), and the change of the error in time (Derivative). To do this, we use a PID controller. They are the first four values in the illustration below.Having established the total added error, we want to keep the total error close to zero. You change the gain (short: gn) values to increase or decrease the relative importance weighing factors.
BibliographyThe very first version of this code was inspired by ‘Coordinated LEGO Segways’ by Steven J. If you run into problems, let me know as well so I can improve the tutorial where necessary. Feedback: Help improve this tutorialDid you find this tutorial useful? Let me know in the comments. These values can be varied to improve balancing control.
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