Hey , i was wondering how you get it to move forward and backward in software ?. i understand the principles of keeping it stable but i dont see how i can add my own velcoity without disturbing the balance.
@krishna: I offset the zero balancing position by 1-3 degrees depending on how fast you want to move. It is simulating a push forward or backward. The software tries to balance at this position and the robot tends to fall which puts it into forward or backward motion. If I need to brake, I change the center position by > 10 degrees. This way I am able to decelerate very fast. To turn, I rotate only one wheel for like 20 - 40 ms. This results in a slightly jerky turn, but it does not fall.
Hey , i was wondering how you get it to move forward and backward in software ?. i understand the principles of keeping it stable but i dont see how i can add my own velcoity without disturbing the balance.
franklynd 5 months ago
@krishna: I offset the zero balancing position by 1-3 degrees depending on how fast you want to move. It is simulating a push forward or backward. The software tries to balance at this position and the robot tends to fall which puts it into forward or backward motion. If I need to brake, I change the center position by > 10 degrees. This way I am able to decelerate very fast. To turn, I rotate only one wheel for like 20 - 40 ms. This results in a slightly jerky turn, but it does not fall.
krishnakumarr2008 4 months ago