Merge pull request #157 from dwalton76/develop

BALANC3R

Author: dwalton76

.gitignore

@@ -4,3 +4,4 @@ __pycache__
 dist
 *.egg-info
 RELEASE-VERSION
+build

demo/BALANC3R

@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+import logging
+from ev3dev.GyroBalancer import GyroBalancer
+
+
+class BALANC3R(GyroBalancer):
+    """
+    Laurens Valk's BALANC3R
+    http://robotsquare.com/2014/06/23/tutorial-building-balanc3r/
+    """
+    def __init__(self):
+        GyroBalancer.__init__(self,
+                              gainGyroAngle=1156,
+                              gainGyroRate=146,
+                              gainMotorAngle=7,
+                              gainMotorAngularSpeed=9,
+                              gainMotorAngleErrorAccumulated=3)
+
+
+if __name__ == '__main__':
+    logging.basicConfig(level=logging.DEBUG,
+                        format='%(asctime)s %(levelname)5s: %(message)s')
+    log = logging.getLogger(__name__)
+
+    log.info("Starting BALANC3R")
+    robot = BALANC3R()
+    robot.main()
+    log.info("Exiting BALANC3R")