Subject: Re: Ultrasonic sensors - comparison & performance? - msg#00069

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Re: LejWay (Re: Legway with Standard Lego Light Sensors)

Hi Philippe, "Philippe Hurbain" <philohome@xxxxxxx> writes: > > I just tried LejWay, it works fine! nice to hear, for me it didn't work any more when it was darker. I would like to have some automatic calibration of the parameters to be more robust w.r.t. conditions, but I guess that is difficult. > The behaviour is somewhat different from BrickOS version, > less shaky but it falls if tilt angle is too high. I think > max power can't be reached on the motors, so it can't > recover if leaning too much (or stand up by itself). Yes, probably one could be more clever with the timing, like keeping the motors running during the computation if needed. To have something easy and uniform I assumed that the computation takess less than 2ms, during which the motors are always off. > I see that you have added a decay factor on integral term. Did you get better > stability with it, or did you introduced it to avoid overflow? This helps to recover after it has fallen, otherwise the integral goes too far off and I have to stop and restart the program. Jürgen -- Jürgen Stuber <stuber@xxxxxxxx> http://www.loria.fr/~stuber/ gnupg key fingerprint = 2767 CA3C 5680 58BA 9A91 23D9 BED6 9A7A AF9E 68B4 -- Did you check the web site first?: http://www.crynwr.com/lego-robotics

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Re: Brute Force Brick

in lugnet.robotics Michael Fusion wrote > i'm interested in the wood model of the herb robot The robots in this game are named as greek gods. Hercules is the one who lifts up the plants, while Hermes, the ambassador between the gods, carries Hercules on his shoulders to get him, together with the plant, out of the array. And moves him towards the support station. The wooden model shows the two levels with the two robots on rails, each on one level. Hermes has a rail station on above it, where Hercules, together with a plant, can move onto. Then the whole thing will be carried to a support station and after it, to a storage location. Of course, you need storage room for the plants, to get them out of the groth area. So a native modell of the plant level (Herules supports) could look like this: +---+---+---+ | | | | ^ ^ +---+---+---+ | | | | | | | | +---+---+---+ | growth array | | | | | | | Hercules +---+---+---+ | | | | | | v | +---+---+---+---+---+---+---+ | | S | | | | | | | <-- Hermes --> v +---+---+---+---+---+---+---+ Note, that Hercules can laydown plants at Hermes storage space in this scenario. A more intelligent idea about the growth area would reliquish Hermes overhead. S is the support point anyway. The algorithm of a plant in the growth array is: 1. Move to the Support Point. 2. Move into the Hermes storage. 3. If the last plant (of a column) was inspected, then move the plants from the Hermes storage back to the growth area. Give me some weeks, to show you my wooden modell on a website. Greetings Ralph -- Did you check the web site first?: http://www.crynwr.com/lego-robotics

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Re: Ultrasonic sensors - comparison & performance?

In lugnet.robotics, Ismael Salvador wrote: > Hi, I own the 24Khz from Mindsensors. I have not played with it a lot, mainly > because I cannot get useful behavoiur. The device works nearly as a binary > detector, object present in xxx meter or no object. Minimum distance is around > 30 and max about 1.5 m or so. (Speaking from the memory, I cannot find my > notes > with real measures). It cannot be used to measure distances and its behaviour > is > far away from a linear system. > In the RCX side the sensor has to be configured as a light sensor, and doesn't > need charge time. Most of my results from the HiTechnic sensor were the opposite of this. I find it to be very useful, so I use it all the time. The readings seem to show a good, linear output based on the distance. (even though I usually use it as a binary detector) The ranges are close to the same. Min 6" (at that point, the reading is pegged, and remains that way as an object gets closer than 6") to max ~4'. This is a pretty large sensor, and at $80, it's not cheap. But, I think it's worth it. Steve -- Did you check the web site first?: http://www.crynwr.com/lego-robotics

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Re: Ultrasonic sensors - comparison & performance?

"Dan Novy" <lego-robotics@xxxxxxxxxx> wrote in message news:4059D824.8020605@xxxxxxxxxxxxxxxxxxxxx > Has anyone pulled the ultrasonics from a Nintendo Powerglove yet? I > saw someone using bend sensors wit the RCX, but haven't seen anything on > the ultrasonics. The glove comes with two transmitters and three > receivers and was originally used to determine translation and > rotation. Hmm..now I'm wondering how hard it would be to interface to > the RCX. Uh, oh, another weekend gone, just like that... > > -- > Dan Novy > Technical Supervisor > Flash Film Works > > now that i would really be interested in, i have a power glove that i donate to the cause, i never got aroud to making it work with the parallel port. but i would definitely be willing to take it apart and photograph it for people, provided it was for a good cause. :) (which in regards to lego is always a good cause) for you other guys here is a web link for a powerglove purchase http://www.vrealities.com/power.html http://www.teglerizer.com/pgsi1.htm http://cgi.ebay.com/ws/eBayISAPI.dll?ViewItem&item=3085594249&category=41047 that buy it now price is only $24.99 USD anyways, there ya go, i don't have any supporting devices, but that first link with the serial interface is interesting because you don't have to alter the glove to use it. i don't knwo the problems or interferences but like i said i'm willing to help if i can. been out of it for a while mike --- Outgoing mail is certified Virus Free. Checked by AVG anti-virus system (http://www.grisoft.com). Version: 6.0.613 / Virus Database: 392 - Release Date: 3/4/2004 -- Did you check the web site first?: http://www.crynwr.com/lego-robotics