Thread: Has anyone succesfully programed the Gyro?
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Unread 24-06-2002, 02:56
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#0047 (ChiefDelphi)
  
Join Date: May 2001
Location: Pontiac, MI
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Team 159 also has auto-balance
Posted by Andres Teene at 03/28/2001 11:44 AM EST


Engineer on team #159 from Poudre High School and LSi Logic.


In Reply to: Has anyone succesfully programed the Gyro?
Posted by Anthony S. on 03/27/2001 8:50 PM EST:



We also are using the gyro for auto-balance. When on the ramp, the driver hits a button to enter the auto-balance mode where the control program takes over, it drives slowly up until the gyro senses the ramp movement at which point it drives back at fixed amount to balance. We automatically detect if we are balancing one or two goals which uses different coefficients for balacing algorithm. This system does work, however it requires calibration. This was why you may have seen us running back and forth with the laptop during our practice matches.

We started off with a more complex system that included reed switches on the wheel to measure travel and position with the optical sensor to detect center of the ramp. However the resolution wasn't sufficient and we ended up using the simpler system.

Having a solid drive system with traction is required to make the auto-balance to work. We can't have any wheel spin. We ended up using a real aggresive wheel design to give us the required traction. We won the GM design award for our design. We can pull both goals up the ramp, we can also pull the fully loaded strecher over the ramp.

Andres Teene
Poudre Robotics - Team 159



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