public class Ballbot extends java.lang.Thread
This class dynamically stabilizes a ballbot type of robot. The ballbot robot uses two motors to drive a ball with a similar configuration to a mechanical mouse.
A ballbot needs good motors, sensors, a grippy ball/rollers (wheels) and should be as symmetrical as possible in all directions (like a circle) to optimize stability. If using a billiard ball or LEGO ball, it is recommended to apply a layer of rubber glue to the tires to add grip.
To start the robot balancing:
This code is based on the Segoway class.
|Modifier and Type||Field and Description|
|Constructor and Description|
|Modifier and Type||Method and Description|
Causes movement along either the xaxis or y axis.
activeCount, checkAccess, clone, countStackFrames, currentThread, destroy, dumpStack, enumerate, getAllStackTraces, getContextClassLoader, getDefaultUncaughtExceptionHandler, getId, getName, getPriority, getStackTrace, getState, getThreadGroup, getUncaughtExceptionHandler, holdsLock, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, join, resume, setContextClassLoader, setDaemon, setDefaultUncaughtExceptionHandler, setName, setPriority, setUncaughtExceptionHandler, sleep, sleep, start, stop, stop, suspend, toString, yield
protected EncoderMotor my_motor
public Ballbot(EncoderMotor xMotor, Gyroscope xGyro, EncoderMotor yMotor, Gyroscope yGyro, double rollerDiameter)
xMotor- The first motor, such as an NXTMotor.
xGyro- The gyro accompanying xMotor. Monitors the x-axis
yMotor- The second motor, such as an NXTMotor.
yGyro- The gyro accompanying xMotor. Monitors the y-axis
rollerDiameter- The diameter of the motorized rollers. Usually NXT 2.0 wheels (4.32 cm)
public void run()
public void impulseMove(int x_axisPower, int y_axisPower)
Causes movement along either the xaxis or y axis. Normally power for each of these values is zero in order to keep the ballbot roughly stationary.
This method does not actually apply direct power to the roller wheels. Control is filtered through to each wheel, allowing the robot to move. Higher values are faster. Negative values cause movement in the opposite direction. Values between -200 and 200 are acceptable. If values are too high it can make the robot balance unstable. Try starting with values around 10 or so. A ballbot needs good motors, sensors, a grippy ball/roller and be extremely symmetrical if you want to use higher values.