gyro code

odin892 · April 8, 2003, 9:28am

we used a gyro to balance our arms but the gyro would return to center after about a second or two so we made a pendulum.
here is our code before we took it out. you may need to tweak some variables.

If p3_sw_top = 1 then
If p3_y > 127 then
If balancing_motor_limit_forward = 0 then balancing_motor = p3_y
else

if p3_y &lt; 127 then 
	if balancing_motor_limit_reverse = 0 then balancing_motor = p3_y

endif
endif

else
If state = 0 then
balancing_motor = 183

	If balancing_motor_limit_forward = 1 then balancing_motor = 127

	If gyro =&gt; 180 then state = 1

else	

	If state = 1 then 
		balancing_motor = 63

		If balancing_motor_limit_reverse = 1 then balancing_motor = 127
		
		counter = counter + 1
		If counter =&gt; 30 then
			state = 2
		endif
	else
		If state = 2 then balancing_motor = 127
		
	endif	
endif

endif

Greg_Ross · April 8, 2003, 10:47am

Are you asking a question, or offering your code for others to use?

odin892 · April 8, 2003, 2:50pm

i was offering code to other to use. it was supposed to be a reply but i clicked the wrong button and didn’t realize.