Welcome to my robot page

I cannot present any actual instructions as the robot has been disassembled, but it should be relatively simple to extend the existing 'person' on the Segway in the video using some extra gears, if this isn't possible then don't worry too much. Believe it or not, the two versions of the Segway are actually

very similar so it doesn't actually matter that much. Hardware wise, you would be better to use my version of the program as it averages the values to begin with.

download the program here:

Segway

any problems just e-mail me ron.earth@gmail.com

"When the robot shakes and oscillates, this is because the response is too high (over-correcting), probably because of the larger wheels. To fix this, start by decreasing the Kp gain (value set in the variable write at the beginning of the program). If Kp gets too low, it will eventually under-correct and just steadily fall in one direction, so you can try to zero in on a value that way. Adjusting the other two gains is trickier. Small increases in Ki will allow it to recover from bigger disturbances, but too high and it will quickly become unstable. Increasing Kd may smooth out over-corrections brought on by increasing Ki, but can also lead to instability. So most of your adjustment should be to Kp. Note that the Bluetooth version of the program needs higher gains because the control loop executes slower due to the additional work.

I posted my NXT 1 version yesterday with my re-tuned versions, so you can look at the values I used there. If you use larger tires, you will want to decrease all of the gains proportionally to the difference in tire size.

Dave Parker

www.nxtprograms.com"

Nxt game player

This is my first bot, it can type keys on a keyboard (up, down, left and right arrows) to control a game.

Instructions - When connecting the arm and the base make sure the small cog is pushed in (see image below)

(Using the robot on carpet is best)

These instructions are from Lego Digital Designer (free)