[Anders Søborg]

Everything looks ok – but the command that you are sending does not make sense to the NXT firmware. Also be sure to close the connection when you are done. If you go to the documentation you can see the source code for some of the things that I implemented. You can find the documentation here

Anders

[Anders Søborg]

Hi this is for the C++ library…

Ok could you please post some code of what you are trying to do

Anders

[Anders Søborg]

Right now the only way is to use the link from my website… try to use another browser. Maybe that will help.

Anders

[Anders Søborg]

Hi

What happens if both the left and right sensor is above 15 or both the left and right sensor is below 15? Won’t robot keep spinning (or keep doing the last thing you told it to)?

Anders

[Anders Søborg]

No sorry…

Are you having trouble with all images

Anders

[Anders Søborg]

Hi

I think that this is a timing issue… It seems wrong that you need to send the same string five times – this is not a fix. Like I said there must be something that you are doing wrong in your NXC program since the NXC code and NXT-G compiles to the same byte-code….

I can’t remember NXC but does strings in NXC have variable length? or do you need to specify the length when you create a string?

Anders

[Anders Søborg]

Hi

Ok since it is working in NXT-G – there must be a problem in your NXC code… what does the docs say about

ReceiveRemoteString(0, 0, a); ?

Anders

[Anders Søborg]

Hi

I think that your problem is already described in this post …

Hope this helps

Anders

[Anders Søborg]

Hi again

I really really want you to succeed as well…. Ok so it seems that the control loop should be working. There are from my point of view two possible causes why this is not working. Sensor input being wrong or output power to the motor is wrong (you are getting another output power that you except) – or it could even be a combination of the two.

So I guess a plot of the sensor input and also a motor speed versus the input power would also be a good thing (A open loop step-response of the motor at different powers) just to verify that everything looks OK.

Anders

[Anders Søborg]

Hi

Great to see what is actually going on…when I see it running it seems that your response-time is way to slow… this can be cause by your control loop running at a wrong rate or the controller’s repose is way to slow. So you need to tune some of the parameters.

Another option could be that the set-point you are trying to reach is way off – the sensor input could be wrong.

In general getting a robot to balance upright is difficult. You are trying to make a highly unstable system – stable. I would say that your approach of trying to copy a Lab-View program that is running with a different sample rate and has a lot of magic numbers is doomed to go wrong. If I where you I would start over and implement a PID control loop so you know what is going on.

But before that I would start by verifying that the sensor input is correct – if this isn’t the case you will never get your robot working. Make a program where you manually move the robot to a upright position and make it fall – record those data with a fixed sample-rate and plot the curve – what are you seeing? Does the sensor input look alright?

Hope to hear from you soon.

Anders

[Anders Søborg]

Hi

Once I have the time I will look at what can be done to improve the remote. Right now my focus is on the MonoBrick firmware

Anders

[Anders Søborg]

Hi

Please post you code

Anders

[Anders Søborg]

Hi Mike

This is awesome… great job.

Do you a website that I can link to?

Anders

[Anders Søborg]

Did you get the email that I send you?

Anders

[Anders Søborg]

Looking forward to the video

Anders

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