my new project

[oenmaster]

task main(){
  int ng,gn=0,nw=0,rp=0,rg,lrp=0,rwi=0,md;
  int GyroBiasCount,Gyro_value,GyroBias=0, batt;
  long timer1;
  string message, messageA, messageB;
  
  timer1 = CurrentTick();  // set timer1

  // Calculate the Giro Bias for the Hitechnic Gyro sensor.
  // by measuring the Gyro value many times in 3 secondes.
  // Gyro Bias is avarage Gyro value.
  GyroBiasCount = 0;
   while (CurrentTick() < (3000+timer1)) {
          // filter the sensor output
      Gyro_value = SensorRaw(S3);
      Wait(150);
      GyroBiasCount = GyroBiasCount + 1;
           gn = gn + Gyro_value;
           PlayTone(TONE_B7, 5);
   }
  GyroBias = gn / GyroBiasCount;
  gn=GyroBias;
  
  // Measure the battery voltage.
  batt=BatteryLevel();

  // Display calculated GyroBias an battery voltage on the NXT screen;
   message = "Gbias    Bat          ";
   messageA = NumToStr(gn);
   messageB = NumToStr(batt);
   message = StrReplace(message, 5,  messageA);
   message = StrReplace(message, 12, messageB);
   TextOut(0, LCD_LINE1, message, false);
  
   PlayTone(TONE_B7, 5);
   
  while(true){
     ng=SensorRaw(S3)-gn; nw+=ng;  //body angle
     rp=MotorTachoCount(OUT_B);    //wheel position
     rg=rp-lrp; lrp=rp; rwi+=rg;   //wheel speed
     if (abs(rwi)>15){gn-=sign(rwi); rwi=0;} //Gyro drift comp.
  // md=(nw+ng*10+rp*4+rg*200)>>4; //pd contr. NXT small wheels
     md=(nw+ng*12+rp*5+rg*360)>>5;
  // md=(nw+ng*12+rp*5+rg*360)>>5; //pd contr. RXC large wheels
     md+=sign(md)*48;              //friction compensation   default = 48
     SetOutput(OUT_AB, Power, md, OutputMode,OUT_MODE_MOTORON,
                     RunState,OUT_RUNSTATE_RUNNING,
                     UpdateFlags,UF_UPDATE_MODE+UF_UPDATE_SPEED);
     Wait(8);                      //loop about 100 times/sec
  }
}

i has made a script with Java for my Lego NXT set
and a gyro sensor



i like to hear what you think of this


remember its my first script
well not the first ever but the first try (for me ) on a balancing bot

[-HP-]

I've always thought that these are cool The bot looks awesome.

Can you post the script?

[oenmaster]

sure thing

see fist post

[Echo51]

I so want thats lego mindstorm kid :P then ill make a cat chasing robot that will entertain my cats :P

[Marshmellow]

I so want thats lego mindstorm kid :P then ill make a cat chasing robot that will entertain my cats :P

I'm sure they'd love you for that.

[oenmaster]

if some one have any tips on how to make it "stabler" pleas say so

[d3cr1pt0r]

if some one have any tips on how to make it "stabler" pleas say so

Use delta No just joking

[oenmaster]

i wish there was delta in NXC

[blaargh]

Its cool, but what does it have to do with wiremod the forum?

[Free Fall]

superfluous bump is superfluous.

It is some kind of machine, that is the point. And because it is not directly wire, it is in the OFF-TOPIC forum.