The “Minifig Vomit Mobile” is what my friend Marc-Andre called the omniwheel I took the video of. I felt that in order for that name to be more accurate, I had to add a minifig to the robot, so here he is, on the left. Unfortunately, this one has no internal organs, being a skeleton and all, so there is, in fact, no stomach to vomit from.
There seems to be a common misconception that the code for this robot would very complex. However, that’s not the case; it’s actually surprisingly simple. You can download the ROBOTC code right here: [LINK] and take a look for yourself. I am not sure how you would make it work with NXT-G 2.0, seeing as there is no updated sin/cos blocks that work with floats, but it should be trivial to port to NXC.
Xander,
Do you think that the compass sensor would be responsive / accurate enough to also be used to drive the omnibot while also having a constant rotation?
1. orient robot in desired direction and read compass (initial heading)
2. calculate desired angle relative to changing compass heading
Or is the Gyro roation rate integration more accurate?
Thanks.
Hi Brian,
I really have no idea, tbh. You’d have to mount the compass far away enough from the motors and NXT for sure. The gyro is not without its issues either, there’s a drift that adds up very quickly when you integrate. It would be a good experiment to see what gives a straighter path. I’ll have to add it to my TODO list 🙂
– Xander
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