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--- rip_report [2016/04/17 01:58] – joaomatos
+++ rip_report [2016/04/21 21:04] (current) – joaomatos
@@ Line 137: / Line 137: @@
   * 7->I started to change the methods to calculate the velocity. I) using the dt as the CurrentTick - PreviousTick (API's from the Bricx program ) II) Calculating dt with a function to handle the time between loops ( similar to the code of the WhipBalance that we used on class ). III) Calculating three values in a row and taking an average. IV) I'm now working on using the average of previous values (similar to the code of the WhipBalance that we used on class), i will use an average of 5 previous values to calculate the velocity.
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+ **USING SIMULINK**
+ {{youtube>QZF4qI7ozn0?medium}}
+**Day 7:**
+  * I'm now calculating the velocity using the average from 4 previous values and the balance got significantly better but still not as good as running on Simulink (using the exactly the same gains). The balance can get better with a little gain tuning - which i'm trying right now. I thought that the interval between loop was OK , but i think this can be causing the Simulink to balance better ( see the two videos on the Building Tutorial Tab ) .Another thing that is different is the motor behavior . Running on Simulink we can't notice the motor "input spikes " , it accelerate and break very smoothly . Runing on NQC we can notice the motor "input spikes" . For example , using the Simulink it looks like if the motor was turning foward with power of 40 and it needs to change to 60 , it will accelerate and break to reach the new value , and using the NQC code it looks like if the motor was turning foward with power of 40 and it needs to change to 60 it will change from 40 to 60 instantly - so we can notice the "input spike" . There is an API on the Bricx that can control the OnFwd and OnRev using PID constants, however i tried to use it and it does not change the balance at all.
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+----
+**WEEK 7 **
+ Now that the NQC is running smoothly the next steps are:
+  - Finish the swing up control.
+  - Fill up the spreadsheet with the necessary parts for the RIP Box.
+  - Do the a detailed version of the building instructions
+  - Do the step - by - step coding in the Bricx Command Center
+  - Explain the theory behind the NQC code
+  - LQR Theory - how to find the gains