![]() ![]() In any event, the project sat for few weeks and then, recently I stumbled upon an alternative (link below). Translating his into EV3 language proved however to be more challenging. After reviewing my Modern Control notes from years ago, and concepts of full-state feedback and non-minimum phase systems, I was able to figure-out an algorithm (block diagram with state variables) for the self-balancing robot. Well, this turned out to be a more difficult exercise than I had anticipated. All along, I was hoping to build a self-balancing robot, supposedly similar to that on the EV3 CD. For example check EV3 Segway line folower: a modification of Gyro Boy.Few weeks back, I got both the EV3 Retail Version + the EV3 EDU Expansion + Gyro Sensor. There are several interesting projects that go beyond balancing. ![]() Would you like to program your own balancing program in Java? Then I recommend you to mount LejOS onto your intelligent brick and check this building instructions and java code for balancing algorithm written by Steven Witzand. If you need more details about how the programs work and how to make them run, I recommend you to visit Tutorial: Self-Balancing EV3 Robot at Robot Square. ev3 file in your EV3 programming software. GyroBoy-Basics balances the robot in place, turns right, and turns left. GyroBoy-AvoidObstacles drives the robot around the room while trying to avoid obstacles. To run one of these programs, just open the. ![]() You are particularly interested in GyroBoy-Basics and GyroBoy-AvoidObstacles. Here you can download a project that contains 4 programs: BALANC3R-Basics, BALANC3R-RemoteControl, GyroBoy-Basics, and GyroBoy-AvoidObstacles. If you have Education Software version, the Gyro Sensor block is already installed. If you have LEGO MINDSTORMS EV3 Home Edition Software, you will first need to install the EV3 Gyro Sensor block (driver) before you can program your robot. ![]() Otherwise you can download the building instructions here. In case you have Lego MINDSTORMS Education EV3 Software, the building instructions are included in the software. It’s not a big deal, just try to improvise with the parts you have. While building robot with the basic set, you will find out that you are missing a couple of lego parts. I would also recommend you to get EV3 Rechargeable DC Battery and appropriate charger (doesn’t go together) which makes building and programming robot more convenient. In case you have Lego Mindstorms EV3 31313 Basic Set you need to buy EV3 Gyro Sensor. So in case you have LEGO MINDSTORMS EV3 Education Core Set #45544ego, you are totally fine and have all the necessary hardware and lego parts. Gyroboy can be build with both of them, but the requirements slightly differ. As I mentioned earlier, Lego offers two series of Mindstorms, regular Mindstorms and Mindstorms Education. It’s actually quite simple to build this self-balancing robot. ![]()
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December 2022
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