Book Image

Learning Lego Mindstorms EV3

By : Gary Garber
Book Image

Learning Lego Mindstorms EV3

By: Gary Garber

Overview of this book

Table of Contents (19 chapters)
Learning LEGO MINDSTORMS EV3
Credits
About the Author
About the Reviewers
www.PacktPub.com
Preface
10
Other Programming Languages
Index

Gyro Sensor


In Chapter 4, Sensors and Control, when we introduced the Gyro Sensor, we wrote a program that stopped the rotation of the robot when the Gyro Sensor reached a certain value. As we noticed, the robot always overshot this value. In Chapter 7, Advanced Programming, we tried to compensate for the overshooting with a two-level controller. Here we show a program where the measurement from the Gyro Sensor goes into a proportional controller.

You will find that this method is significantly more precise and useful in making exact turns.

The preceding program asks the robot to rotate through a given angle and slow to a stop. If we used a smaller gain constant, we could avoid using a loop. However, this can take more time and runs the risk of never reaching your setpoint. This is similar to approaching a set distance from a wall using the motion or proximity sensors. Again, we start out by resetting the Gyro.

A more interesting use of the Gyro Sensor will be to drive in a straight line under...