The auction you are viewing has now ended Near new condition, complete in unopened boxes LEGO new in boxes: The boxes show some signs of wear. View all 222 reviews Rest of the World The seller will ship the item(s) within 3 working days after receiving confirmation of payment. Some sellers may offer the possibility of picking up items by arrangement. If you win more than one lot sold by the same seller in the same auction, your shipment will be combined. In this case, only the shipping costs of whichever lot has the highest shipping costs will be applied.Please note: this seller will only charge for shipping once, even if you live in another country. All of our auctions are subject to notarial supervision Place your bids any time, any place? Download the Catawiki Auction App Posts: 34 Joined: Mon Nov 04, 2013 7:04 pm Using BNO055 in place of EV3 Gyroscope I’d like to build a Gyroboy (or similar self-balancer) using the BNO055 IMU.
I’m struggling with how to read the angular velocity properly. Assuming I've got the physical orientation correct, I'm trying to substitute this EV3GyroSensor code:Code: Select all float gyroRate() { float filter = 0; // get 5 samples float[] sample = new float[1]; for(int i = 0; i < 5; i ++) { gyro.getRateMode().fetchSample(sample, 0); } return filter / 5f; }With the following for the BNO055 using Gloomyandy's driver.Code: Select all float gyroRate() { double [] pos = new double[3]; float filter = 0; for(int i = 0; i < sample_size; i ++) { pos = imu.getVector(BNO055.vector_type_t.VECTOR_GYROSCOPE); //convert radian/s to degrees/s filter += z; } return filter / sample_size; }Can I expect this to return a similar result or is my thinking over-simplified?Certainly the robot behaves very erratically and doesn't balance.
I appreciate self-balancers aren't trivial with many factors and variable coming into play. I'm simply trying to validate at this stage whether my conversion of the code is likely to be the culprit or not.I can’t do any real-life comparisons myself because I don’t own the EV3 Gyroscope sensor. Posts: 5655 Joined: Fri Sep 28, 2007 2:06 pm Re: Using BNO055 in place of EV3 Gyroscope Thanks Andy, much appreciated as always.I’ll try your suggestions. Yes calibration is completed first./2014/07/01/tutorial-ev3-self-balancing-robot/and a couple of Java translations of it that google turned up, neither of which actually mentioned that they work successfully.As you’ve confirmed, lots of variables will affect the behaviour of the robot. Different sample size does appear to change the way it tries to ‘correct’ itself. I’ll persevere with my (limited) maths & physics know-how and trial & error. //watch?v=jgc-9GFOKgMThis was actually for a project I worked on while still at
It was used for a demo at JavaOne that year. The robot had to support a very heavy LEGO verson of the Oracle/Sun Duke Java mascot. The above video was my attempt to simulate the weight of the final thing by adding loads of LEGO parts just to increase the mass!/watch?v=irTE0whPBvoIt did mean that I can claim that for a while I was paid to play with Java and LEGO! Users browsing this forum: Baidu [Spider] and 2 guestsPros: light brick, glow in the dark pieces, unique minifigures Cons: overall small in size This past Christmas, at the top of my son’s Christmas list was the Lego Monster Fighters set The Crazy Scientist and His Monster (#9466). It has 430 pieces which includes 4 minifigures. The Monster Fighters series has all sorts of good guys, bad guys and of course monsters. The Crazy Scientist and His Monster There are three main parts to be assembled. One is the car for the good guys. The others are what my son calls the laboratory and the prison. The car has an almost antique style to it.
It is largely light blue, but is anything but antique. There is a spot inside the car for a driver alongside a “trick” seat that slides out to the right side of the car. There is even space on the top of the car. The top is equipped with projectiles to be fired. Next to be assembled is the tower. This is a Dr. Frankenstien type of tower right down to the bed (that moves along gears) and a laser beam of light so the mad scientist can work on his creations. There is an included “light brick”, which is a Lego brick that can light up with a battery (battery is included). The light brick can be triggered on, and it lights up another piece to, in this set, resemble a laser beam. A definite cool feature of the set. The tower is a little on the delicate side. Attached to the tower is a small laboratory area, complete with a spider web, bones and a glow in the dark skull figurehead in a case. On the other side of the lab is what my son calls the prison. It could also be considered like a dungeon area.
The small space has a door guarded by a glow in the dark rat. The rear of the prison can be easily pulled off by the car by attaching the “chain”. The top of the prison has a small catapult for protection. There are a lot of pieces included in this set, but the final assembled set looks small given the amount of pieces. A great deal of the pieces are actually small accessories and embellishments such as the laboratory test tubes and the pieces that go on top of the tower to resemble lightening. The Minifigures Dr. Rodney Rathbone is a monster fighter that looks like an old-time banker with his tie, vest and pocket watch. His unusual grey leg is actually a steam powered fake leg. He has sideburns and a thin mustache and also wears a bit of a smirk. Major Quinton Steele is another monster fighter who wears a tan adventurer style outfit, a safari hat and a monacled eye. He has a telescope and a very large gun for protection. The crazy scientist’s monster is very much like Frankenstein’s monster.
He has tattered clothing and a pea green head with a mouth lacking many teeth. The cool part of this minifigure is the piece that goes on the head. It gives the minfigurehead a large, elongated head along with safety pins that are holding the monster head together. Finally there is the crazy scientist. His jacket has a belt that has test tubes and scissors. This is the only figure in the set to have a dual sided head. On one side he wears an unusual set of safety glasses and a concerned face. The other side is where the crazy emerges. One of his eyes has turned red and his mouth is twisted to the side. His head is topped by rubbery grey hair that is standing on end. Overall So far all of the Monster Fighters series sets have been lots of fun for my kids, and The Crazy Scientist and His Monster has been no different. The monster and the scientist minifigures have some unique features. The final set is on the small side for how many pieces are in the set, but it comes with lots of cool accessories, including some that glow in the dark.