Thanks for the video, and explaining really nice. But I think the multiplication with "0.25" works better if used first on the integral first and summed with the error later. As it is now, the integral is always going to max and not forgeting.
@@micheleraucci9070 i think this person is experiencing integral windup with their code, if the integral cant effect the stability enough it will grow to a large value instead of being in a stead state. usually the solution to this is clamping integrals max or min value, this can be done with set integral to Min of (Max of (Integral, -1), 1)
It balances ok for like 3 seconds but it then falls over ether on its face or back when it falls its always going to fast to try and balance its self do you have any suggestions on what to fix or tweak btw I made my robot Exactly like yours so I think it’s in the code thanks for your time.
It sounds like it will require more tweaking of the PID values, note it will work better on carpet because the spike wheels are very smooth and harder to grip on smooth surfaces. Although I have seen some people successfully balancing this robot on facebook ☺️
I didn’t work I fell like It can go on most surfaces but it keeps on falling over because it’s moving too fast in either direction and I also tweaked the PID And it still stayed the same l think I need to tweak the speed or the reaction time but I don’t know how to can you tell me something I can do to fix it thank you for your time
Thanks for the video! I tried to recreate this bot (same build, same code), but for me it is very unstable. It stands for max. 1 second before getting out of control. Also the motion block you are using in the end send not to be available for 51515 (even with additional blocks turned on). So I used two blocks: drive forward + set speed.
Hi! If you need help finding the blocks in 51515, you can see me reproduce this project with the Inventor kit here: Discovering LEGO Mindstorms/SPIKE Gyro Pitch Deadzone
I bought the build for my class. The software wants to be in another release. they have not updated it. We (We being two software teachers and an engineering teacher) tried to do what they suggested, and we found that it was too difficult for middle schoolers to do and it still did not work. We tried several ways including stopping the video and building the blocks that we saw. Basically it was a no go. Therefore do not waste the 4 bucks until they update the software.
If you search for Spike Prime Balancing Robot, you will see Builderdude35, Igor Bogorod, Brickmania all successfully using this model and code to balance. As mentioned in our message before, your SPIKE version must be 2.x in order to function.
Would you please share the code in python? We got this awesome program to work in scratch, but can't keep the bot stable in the same python code. Thank you for sharing these fantastic videos and python tutorials!
I just created this Segway robot! You made an excellent explanation and I really didn't know about PIDs until this video. I did plenty of more research on PIDs and I was fascinated! I didn't know Segways used the PID controller! I also know that a lot of other self balancing programs have you hold the robot upright, and over the course of about 2 seconds, the gyro sensor calculates the average value of the sensor, and then the robot uses that average for self balancing. By any chance, do you know how can the gyro average be calculated?
Thanks for your feedback! I believe the average value is intended to work out the ‘roll target’ which I enter manually in my code. If it could be calculated then it could make the balancer a bit more reliable. I will have to investigate how this is done!
@@CreatorAcademyAustralia Hello, after experimenting a lot, I think I figured out how to calculate the average value over 50 readings. Would you like me to send you a screenshot of the code?
Great observation! The SPIKE PRIME motors all have a groove that allows the wire to pass through comfortably even if it is attached flush to another surface like this robot. You can see in the build portion of the video how the wire sits in the groove at 3:20
Hi Max, the roll target is the roll value of the hub when the model is as balanced as possible. If you built the model exactly as the video, feel free to use the same variable. Good luck! Garry
Hi. Great work. I would like to program this with python. but i can not find roll target or the PID functions. May you can explain this in a further video? would be Great if possible anyway. Cheers
@@CreatorAcademyAustralia Great! Im study this for my self. Do you know: Is the python program from Lego fully functional? Or are there commands may missing? For ex. for PID we use this: PID = (target-value).kp+(integral+error).ki+(error-last_error).kd
Hi Garry, Do you have idea how to use Spike prime to create self balancing bike by using flywheel instead of spinning front wheel? I have problem to find out the formula to decide the size and weight of flywheel. I am sorry to leave message here. Would you shed a light for me? Thanks a lot.
Hi! The code will be very similar. When we started building the robot, we had a flywheel design but the problem is that we couldn't find a heavy enough flywheel, and also the torque on the LEGO motors aren't strong enough. Garry
Hi! This is because the motors will reverse direction. Remember that the first letter refers to the left motor, and the second letter refers to the right motor. Garry
This build is not stable and keeps on breaking. So I tried your program for th-cam.com/video/asVunW7lb6M/w-d-xo.html but it didn't work. Can you explain the program for this build? Thanks in advance.
Hi there! The code explanation here applies the same way for the TL robot as mentioned in the video. The TS robot is more mechanically stable so the tuning values are more forgiving, but you’ll still need to tune it yourself. Goodluck!
![เปิด อาณาจักร หมื่นล้าน "สาระตั้ม" l [Nickynachat]](http://i.ytimg.com/vi/3XE0nPF4YkQ/mqdefault.jpg)
Thanks for the video, and explaining really nice. But I think the multiplication with "0.25" works better if used first on the integral first and summed with the error later. As it is now, the integral is always going to max and not forgeting.
can you please elaborate?
@@micheleraucci9070 i think this person is experiencing integral windup with their code, if the integral cant effect the stability enough it will grow to a large value instead of being in a stead state. usually the solution to this is clamping integrals max or min value, this can be done with set integral to Min of (Max of (Integral, -1), 1)
how do you tune it
This is so DAMN COOL! thanks for sharing!
Thanks for watching! Garry
Hi! Where does the 0.25 come from in the integral? Why not multiply error by the time between the 2 measurements?
How to add steering to this algorithm?
I thought about making one of these, but I thought that the delay between the hub and the motors was too high for it to balance
Where can I download codes?
how did u add the last pink block?
It was available in Spike App 2 or below (now we call it Spike Legacy app) in More Movement extension, but spike 3.0 does not contain it anymore ):
can u upload the code file
can i do that with the 51515?
absolutely 😊
I did.
Where do you get the start moving straight 0 at % power
You'll find it in the 'More Movement' blocks in the extensions on the bottom left of the software. Garry
I didn't find it garry
it only moves when it fall😭
I can't find the "start moving at %power" block :(
There is a start moving at % power in the More Movements (Extra) Blocks
I dose not work for me do you think it could because in using 51515
Hi! It should work fine for 51515, we have used it for another live video before :)
It balances ok for like 3 seconds but it then falls over ether on its face or back when it falls its always going to fast to try and balance its self do you have any suggestions on what to fix or tweak btw I made my robot Exactly like yours so I think it’s in the code thanks for your time.
It sounds like it will require more tweaking of the PID values, note it will work better on carpet because the spike wheels are very smooth and harder to grip on smooth surfaces. Although I have seen some people successfully balancing this robot on facebook ☺️
Thanks I’ll give it a try
I didn’t work I fell like It can go on most surfaces but it keeps on falling over because it’s moving too fast in either direction and I also tweaked the PID And it still stayed the same l think I need to tweak the speed or the reaction time but I don’t know how to can you tell me something I can do to fix it thank you for your time
mine doesn't work because the last block that you used doesn't exist!
Hi! You can find the missing blocks in “more movement” by clicking the block extensions on the bottom left of the coding area. Good luck!
Very good!!
Thanks for the video! I tried to recreate this bot (same build, same code), but for me it is very unstable. It stands for max. 1 second before getting out of control. Also the motion block you are using in the end send not to be available for 51515 (even with additional blocks turned on). So I used two blocks: drive forward + set speed.
Hi! If you need help finding the blocks in 51515, you can see me reproduce this project with the Inventor kit here: Discovering LEGO Mindstorms/SPIKE Gyro Pitch Deadzone
The surface was very important. He mentioned in the video it worked on carpet, and that was the only place it worked for me.
I bought the build for my class. The software wants to be in another release. they have not updated it. We (We being two software teachers and an engineering teacher) tried to do what they suggested, and we found that it was too difficult for middle schoolers to do and it still did not work. We tried several ways including stopping the video and building the blocks that we saw. Basically it was a no go. Therefore do not waste the 4 bucks until they update the software.
If you search for Spike Prime Balancing Robot, you will see Builderdude35, Igor Bogorod, Brickmania all successfully using this model and code to balance. As mentioned in our message before, your SPIKE version must be 2.x in order to function.
可否提供spike版本程序学习一下呢？
Hi! Code is at 11:40 :)
@@CreatorAcademyAustralia 啊，我的意思是有没有scratch版本，不要Python的
這個視頻裡面是Scratch版了😊Spike是可以用Scratch同Python
can it drive?
yep! but you will need to modify the coding
Would you please share the code in python? We got this awesome program to work in scratch, but can't keep the bot stable in the same python code. Thank you for sharing these fantastic videos and python tutorials!
Great idea! I’ll see what I can do 😊 Thanks for watching! Garry
@@CreatorAcademyAustralia Would love the simple python code as well. Would save A LOT of time.
I just created this Segway robot! You made an excellent explanation and I really didn't know about PIDs until this video. I did plenty of more research on PIDs and I was fascinated! I didn't know Segways used the PID controller! I also know that a lot of other self balancing programs have you hold the robot upright, and over the course of about 2 seconds, the gyro sensor calculates the average value of the sensor, and then the robot uses that average for self balancing. By any chance, do you know how can the gyro average be calculated?
Thanks for your feedback! I believe the average value is intended to work out the ‘roll target’ which I enter manually in my code. If it could be calculated then it could make the balancer a bit more reliable. I will have to investigate how this is done!
@@CreatorAcademyAustralia Hello, after experimenting a lot, I think I figured out how to calculate the average value over 50 readings. Would you like me to send you a screenshot of the code?
Yes please! Would love to see your work
Creator Academy Australia I sent the email
@Unbrickme my spike robot hub is working with Normal python code but rejecting a PID code. What do you think may be the issue
For me, the gain values didn’t work so if you have the same problem try using these gain values kp: 5.6 ki: 1.6 kd: 25
Thanks for sharing your gain values! I will try them out as well :) Garry
Does pinching motor cables like that stresses the wire, or are there enough space for wire to bend comfortably?
Great observation! The SPIKE PRIME motors all have a groove that allows the wire to pass through comfortably even if it is attached flush to another surface like this robot. You can see in the build portion of the video how the wire sits in the groove at 3:20
very interesting to study at school, may I have the program code...thank you 👍
无论我如何调整pid还是会倒下
It takes a lot of patience :D keep going!
Very nice!
Thanks! Garry
很好
thanks!
👍🎵🎵🎵
the includes you
What should I define the "Roll Target" value as? Do I just have to put the variable in, or do I have to define it?
Hi Max, the roll target is the roll value of the hub when the model is as balanced as possible. If you built the model exactly as the video, feel free to use the same variable. Good luck! Garry
@@CreatorAcademyAustralia I understand now! Thanks so much for helping me!
Hi. Great work. I would like to program this with python. but i can not find roll target or the PID functions.
May you can explain this in a further video? would be Great if possible anyway.
Cheers
Great suggestion! I will see what I can do 😊 Garry
@@CreatorAcademyAustralia Great! Im study this for my self. Do you know: Is the python program from Lego fully functional?
Or are there commands may missing?
For ex. for PID we use this:
PID = (target-value).kp+(integral+error).ki+(error-last_error).kd
from our experience, python in LEGO 51515 is fully fledged, so all that remains is creating the objects and variables. G
Hello.
I used on the big motors.
What should I change?
Even the brick is standing. Besides the pitch, what else should I change?
Thanks
Hi! The gain values will also need to be tuned again. Garry
@@CreatorAcademyAustralia could you help me a bit with the values? Thank you
Hi Garry, Do you have idea how to use Spike prime to create self balancing bike by using flywheel instead of spinning front wheel? I have problem to find out the formula to decide the size and weight of flywheel. I am sorry to leave message here. Would you shed a light for me? Thanks a lot.
Hi! The code will be very similar. When we started building the robot, we had a flywheel design but the problem is that we couldn't find a heavy enough flywheel, and also the torque on the LEGO motors aren't strong enough. Garry
Hello, I sent you the email
If I want to build this and coding the same program
Set to 0.25 to make robot better.
Hello. If I set "set movement motors" block to "A+E" instead of "E+A", the robot falls down instantly. Why?
Hi! This is because the motors will reverse direction. Remember that the first letter refers to the left motor, and the second letter refers to the right motor. Garry
@@CreatorAcademyAustralia I got it. Thanks.
Probably doesn't help that there is so much backlash in the gear boxes, but nice effort.
The scream where there is code is very blurry I can't tell which block to use
This build is not stable and keeps on breaking. So I tried your program for th-cam.com/video/asVunW7lb6M/w-d-xo.html but it didn't work. Can you explain the program for this build? Thanks in advance.
Hi there! The code explanation here applies the same way for the TL robot as mentioned in the video. The TS robot is more mechanically stable so the tuning values are more forgiving, but you’ll still need to tune it yourself. Goodluck!