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Thymio Segway
by Christophe
Done with 1 Thymio
Keywords:
Equilibrium, text code
Construction projects
None
I tried to create a Thymio capable of balancing on its wheels like the Segway. I attached two big wheels to the robot and created a counterweight so that it is nearly stable when the robot is horizontal.
I then tried to keep it balanced by measuring its orientation with the acceleromoter. The problem is that it is too slow and not precise enough to do that properly. The best solution would have been a gyroscope but the Thymio doesn't have one.
I finally used the bottom proximity sensors to measure the orientation. It works a bit better but is a bit sensitive to light and not as fast as I would have hoped.
I then linked the speed of the wheels to this measurement and it works quite well. It would require more reactive motors (with encoder to measure position, that would be great) and a gyro ;o)
I let you judge! If someone can do better, I am listening :o)
Download the code
Link to more info
https://www.youtube.com/watch?v=HG1lVCDrnxk&feature=youtu.be
Comment this creation!