This is where the confusion really comes. We are keeping the robot orientation straight while the robot moves, but at the end the, robot is not at the fiinal location that we would like it to be. The robot is still about 2-3 centimeters away after moving for about a meter.
The integral part "remembers" the errors that the robot has made in the past and we can compensate for those errors. This will make the robot return back to the line that we would like to keep it aligned.
In this video tutorial, we would do a few experiments with the coefficients for the Integral compensation. There are actually two coefficients - "c" and "b"
Let's record the values of the Gyro Sensor while the robot is moving and is trying to keep its orientation straight. This is an interesting experiment and we will have to use file access to write the values to a file.
We should multiply the error by a certain number and then add it to the steering of the LEGO Mindstorms Steering block. In this way, by changing the coefficient we change how much/fast should the proportional part influence the steering of the robot.
Football with robots could be quite fun. Football with LEGO Mindstorms robots is one of the popular categories for competitions with LEGO Mindstorms Robots.
Pivot turns require fractions of rotations, a number between 1 and 2. Sometimes it is more convenient to use degrees.
In the software, you can change the "move block" to use degrees.
This 10 out of 10 tutorial is a complete uncut recording and it shows how the Chain Monster box robot accomplishes 5 missions in a single run and it does this 10 out of 10 times. It is from the FIRST LEGO League 2022-2023 robotics competition.