Programming Mode; The Models - Thames & Kosmos Hoverbots With BalanceTech Experiment Manual

PROGRAMMING MODE

BALANCE SETTINGS CONTINUED
Set the balance settings in this order, testing them
with the model after setting each one:
1. Angle P is a proportional value used to calculate
how much the tilt angle of the model should be
adjusted each time the calculation is run. The higher
this setting, the more stable the model will remain
standing — to a point. Increase this setting until the
model is slightly shaking. When the value is set too
high, the model will shake too much.
2. Angle D is a differential value that is also used in
the tilt angle adjustment calculation. This setting
helps keep the model standing stable over time.
Increase the setting until the model shakes just a
little bit.
3. Speed P is a proportional value used to calculate
how much the wheel speed is adjusted each time the
calculation is run. The higher this setting, the
shorter the distance the model is given to stop.
Increase the value of this setting until the model is
stable. If the value gets too high, the model will
sway backward and forward a lot.
4. Speed I is an integral value that is used to make
smaller adjustments to the wheel speed. Each time
the calculation is run, the Speed I will cause the
Speed P to increase a small amount. This setting
helps to further stabilize the model when moving.
5. Center of Gravity Offset: This setting accounts for
the different centers of mass (or centers of gravity)
for the different models. Adjust this setting to
change the angle at which the model stands.
Together with the input from the sensors, these
balance settings are processed by the
microcontroller, which results in output sent to the
motors and the wheels that is constantly updating
to keep the robot balanced.
Side view diagram
of balancing robot:
12
0°
Tilt angle
-90° 90°
Movement
range
Wheel
Scan this QR code
to view a video
tutorial showing
how to use the
balance settings.
TROUBLESHOOTING THE
BALANCE SETTINGS
Here are some tips if you can't get your model to
balance:
››› Different floor or table surfaces will affect the
balancing performance. Relatively smooth (but
not slippery) and flat surfaces are best. Test out
different surfaces.
››› Keep a small gap between the edges of the wheels
and the robotic base unit so that the wheels turn
smoothly.
››› Always start a model like this: First, position the
model with its wheels on the floor and then turn
on the switch. Hold the robot upright until you feel
the motors working. This helps the model balance.
››› When the robot detects unusual movement, such
as a sudden change in the motor's turning
direction, a feature designed to protect the motor
from damage will be initiated. When this occurs,
you must turn off the robot for three seconds and
then turn it on again.
››› Sudden or frequent changes in the motor's turning
direction or powerful external forces pushing on
the models will cause them to fall down.
››› The balance settings will need to be adjusted for
different floor or tabletop materials, models, and
battery power levels.