Gyro Sensor

In Chapter 4, Sensors and Control, when we introduced the Gyro Sensor, we wrote a program that stopped the rotation of the robot when the Gyro Sensor reached a certain value. As we noticed, the robot always overshot this value. In Chapter 7, Advanced Programming, we tried to compensate for the overshooting with a two-level controller. Here we show a program where the measurement from the Gyro Sensor goes into a proportional controller.

You will find that this method is significantly more precise and useful in making exact turns.

The preceding program asks the robot to rotate through a given angle and slow to a stop. If we used a smaller gain constant, we could avoid using a loop. However, this can take more time and runs the risk of never reaching your setpoint. This is similar to approaching a set distance from a wall using the motion or proximity sensors. Again, we start out by resetting the Gyro.

A more interesting use of the Gyro Sensor will be to drive in a straight line under...