This scaling factor is found to be -0.98. This scaling factor can be found by examining corresponding peaks in HT gyro data and IMU gyro data. After that, it can be seen that the IMU gyro data must be scaled slightly so that the local data minimums and maximums correspond in amplitude.

To find the offset necessary to center the IMU gyro data about the y=0 axis (the same center as the HT gyro data), the average of the differences between the two data sets at each point was found (-384.525).Īdding this value to the raw IMU gyro data at every point pulls the data down and centers it about the same central axis as the HT gyro data.

The goal of this project was to verify HiTechnic's controller using their gyro, then modify the controller to work with an analog Sparkfun 6-axis IMU (sku: SEN-09431, Retired): HiTechnic also provides an assembly manual for their “HiTechnic HTWay” and sample code that allows it to balance and be controlled by and infrared transmitting controller. The gyro seen in the video about is sold by HiTechnic Being Gyro controlled, this robot can handle any colored surface, including ramps and small bumps. The gyro based model is more robust as it senses angular velocity of the robot directly. Changes in light intensity at the sensor cause the robot to move forward or backward in response the sensed tilt. The light sensor control sceme relies on a relatively solid colored texture free surface to perform well. Note: If the videos do not load, just refresh the page.

The LEGO Mindstorms NXT based Wheeled Inverted Pendulum has been proven to work using various types of sensors including stock light sensors and after market gyro sensors.

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