BALANCING ROBOT prob

balancing88 · 2011-04-03 04:14

Im trying to build balancing robot but I facing some problem due to robot that balance not for a longer time.............here im attact the coding

erco · 2011-04-03 13:36

Code looks too simple, almost generic. Where did you get that from? Did it work for someone else?

Did you try changing the PID constants Kp, Ki, Kd? Did you remove that DEBUG statement when you ran the program?

erco · 2011-04-03 15:25

That code can't handle negative numbers properly so it can't drive the servos in both directions.

erco · 2011-04-03 15:30

See http://forums.parallax.com/showthread.php?103850-Yet-another-balancing-robot

balancing88 · 2011-04-04 08:54

I already remove the debug...Im think it doesnt effect anything.. Im get from this link http://forums.parallaxinc.com/forums/default.aspx?f=21&m=162898&p=2&ord=d ..but Im juz using Plain BS2.....from the link, the robot used BS2sx..

erco · 2011-04-04 14:32

I got stable (stationary) balance out of a BS2, and working on driveability, see http://forums.parallax.com/showthread.php?126312-Balancing-Bot&p=965006&viewfull=1#post965006

balancing88 · 2011-04-04 19:40

Im using ping sensor and Plain bs2....Is there any idea to improve it....

balancing88 · 2011-04-05 18:38

cannot handle negative number????

erco · 2011-04-05 20:18

Sure. Anytime ptime>setpoint, when (setpoint-ptime) should go negative, it rolls over instead to 65000 or so. Stamps do simple integer math. I doubt if that particular software ever worked as written. It may have been copied from the very general Parallax PID simulator.

Fortunately for you, the Ping has been demonstrated to work in a stationary balancing robot, so you can probably tweak that code and get it going... at least the proportional part.

How about posting some pics of your robot to get some people interested in your project?

BALANCING ROBOT prob

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