Oct.31 LMS 61499 Segway is possible now!

This application can be created now with the existing LMS FBs


 Hardware:

• Light Sensor
• red light turned on 
  
• 2 Motors
• adjusts based on PID
• direction  forward/backwards base
• duration based
• Ultrasonic Sensor - not connected - used to look like a head.

Two topics:
1. NXT Segway description vs. actual results
2. What is needed for a lms event driven (IEC 61499- fordiac) Segway?


1. NXT Segway description vs. actual results
The NXTprograms NXT Segway with Rider   "This robot simulates a Segway PT "
The project construction was straight forward. With the exception of the axle between the wheels, parts were easy to find and could be used as is. The axle had to be modified. The 2 wheels are connected so they move together to avoid drifting to the side.

The Usage Information in the Building Instructions were extremely helpful.
The NXT-G program worked as described and is well commented. And was it was nice surprise it worked on both a solid tan and solid gray surfaces with normal lab lighting.


There are links to PID descriptions and alternative LMS self-balancing robots such as the
alternative NXTway with both light sensor and gyro sensor versions.

Fail safe: The program shuts off, if the PID value is not reasonable indicating it has probably fallen down.

The blue tooth version is unique to this construction.

2. What is needed for a lms event driven (IEC 61499- fordiac) Segway? 

The basic NXT-G code / algorithm  is:

1. Initialize using the robot's initial value as the goal value
2. Adjust motors forward or backwards based on the PID correction 
3. If the correction value unreasonable - Stop

In theory this can work now in fordiac. The only known potential for error is, if the signal to motor is not sent timely. 1st Draft Application/Tests can use existing robot and lms FBs from summer.

FBs needed:

• Provided: 
• E_CTU,; 
• F_NOT; 
• E_DELAY (3 pre-calibration/balance warnings); 
• E_CYCLE;
• lms pallete: 
• LED; 
• LT (read light reflection); 
• MOTOR (sent power setting)
• utility/ cntlr pallete:
• PID; 
• BTW (is # BeTWeen 2 numbers)