Kauai Labs navX-MXP User Manual
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Contents
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ExamplesRotate to Angle (FRC)Full LabVIEW Source code on GithubAutomatic Balancing (FRC)The Automatic Balancing example demonstrates how to implement a self-balancing robot,which can be useful to help avoid a robot tipping over when driving. As an example, FRC team263 demonstrated the auto-balance feature effectively during the 2018 FRC Championships.The basic principle used in the example is based upon measurement of the navX-MXP Pitch(rotation about the X axis) and Roll (rotation about the Y axis) angles. When these anglesexceed the “off balance” threshold and until these angles fall below the “on balance” threshold,the drive system is automatically driven in the opposite direction at a magnitude proportional tothe Pitch or Roll angle.Note that this is just a starting point for automatic balancing, and will likely require a reasonableamount of tuning in order to work well with your robot. The selection of the magnitude ofcorrection to apply to the drive motors in response to pitch/roll angle changes could be replacedby a PID controller in order to provide a tuning mechanism appropriate to the robot.44 |
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