Using Accelerometers in Robotic Applications (updated)

I have started creating some new material for a section that will discuss basic use of inertial sensors in robotic applications. I added a new section that talks about accelerometers and Euler angles. I hope it clarifies a few misconceptions about these sensors and their use. It now includes test programs.
accel

The Lego Drawing Robot in The News

The Lego Drawing Robot received some attention at CES 2014. I had the opportunity to meet many Lego fans, and people from the different industries. I want to thank Microinfinity for the opportunity to show the Drawing Robots in this event. I have found the Lego Drawing robot featured in a few newspapers and on-line magazines.
lego_ev3_drawing_robot_ces_2014_in_the_media
Continue Reading →

News from CES 2014

I am at CES now, joining the Microinfinity booth. I’ve had the opportunity to talk with many people belonging to the Lego community. If you happen to be in this event stop by booth 22059 located in the Robotics section in the lower level of the South Hall.
LegoEv3DrawingMarilyn

Continue Reading →

Real-time Debugging on the Lego EV3

In robotic applications there are times that the programs need to be debugged. On one hand we have the program itself. For example, verifying that and algorithm or a function is properly implemented. On the other hand, there may be a need for verifying algorithm performance, especially if the algorithm involves checking multiple sensor outputs at the same and in real-time. I have added a section that explains how to address the latter problem.
(Updated with video)
lego_ev3_octave_ssh_plot

Using Dynamic Libraries with the Lego EV3

The Robot Navigation software uses C++ shared libraries that are not available in the EV3 Linux operating system. Therefore the compiler must be instructed to statically link the libraries during compilation time, resulting in quite large executable files. I have added instructions describing how add and load the necessary dynamic libraries. This gives the advantage of creating significantly shorter executable files.
configure_bricxcc_compiler

Robot Control Using the IR-Remote or EV3 Buttons

In many applications where a network connection may not be available, it is possible to use the IR-Remote or the Buttons on the EV3 to allow user interaction with the brick. The Robot Navigation software provides such mechanisms.
Lego_EV3_IR_Remote_Control

Robot Navigation with Support for the Lego Gyro

The Robot Navigation software now supports the Lego EV3 gyroscope. This can be enabled by selecting the LegoGyro class in the main program. Based on our previous experiments, the results may not be as good as using the XGL1300L gyro. However, users with some experience in Kalman filtering or sensor fusion could add some correction algorithms to the gyro output before it is used by the positioning system.
Lego_EV3_Gyro