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NXTbike-GS (self-balancing bike robot by steer-into-fall)

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NXTbike-GS (self-balancing bike robot by steer-into-fall)

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NXTbike-GS Design based on Embedded Coder Robot NXT. and NXTway-GS

csv.m
% Read in csv
clc
clear
A=csvread('t9_x.csv',1);

Head = { 'Time' 'PWMleft' 'PWMright' 'Battery' 'Motor_Rev_A' 'Motor_Rev_B' 'Motor_Rev_C' 'theta' 'psi' 'thetadot' 'psidot' 'I2C'};

plotarray=[0 1 0 0 0 1 0 0 1 0 0 0];
iPlots = sum(plotarray);
i_sub = 0;
close all;
for R = 1:12
   eval([Head{R} '=A(:,R);']); 
end

theta       =theta * 2^-10;
psi         =psi * 2^-10;
thetadot    =thetadot * 2^-10;
psidot      =psidot * 2^-10;


%plot(Time,theta,Time,psi,Time,thetadot,Time,psidot)
%legend('theta','psi','thetadot','psidot')
a=300;
b=6000;

plot(Time(a:b),theta(a:b)*3,'o-',Time(a:b),Motor_Rev_B(a:b),'o-')
legend('theta','Motor_Rev_B')


% 
% Head{2}='PWM_LR';
% for R = 1:12
%    if plotarray(R)  
%         i_sub = i_sub + 1;
%         subplot(iPlots,1,i_sub);     
%         eval(['plot(Time,' Head{R} ');'])
%         title(strrep(Head{R},'_',' '));       
%    end
%    
% end

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