Balancing Robot
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Uploader Comments (SCSI73rm1n8r)
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All Comments (4)
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What are the components used? MCU, board, gyro etc.. Can you list them? Also can you share the code?
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Well done! :)
To be honest, I don't think I would think about using the top wheels to do minor balance changes. 5/5 good thinking and work :)
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First comment! If that's legit which it appears to be you guys are awesome. 5 stars
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You're using the momentum generated by the top wheel? Interesting!
What type of microcontroller are you using?
maleficdog 2 years ago
The left and right wheel pairs are connected together electrically. Since the top wheels have less effective inertia, they turn preferrentially when performing small control actions, and the bottom wheels won't overcome static friction. Large control actions tend to be distributed to both top and bottom wheels.
The micro is an Atmel AVR ATmega32 running at 8MHz. In the control loop a 3-state sequential Kalman filter and 2 PID controllers (cascaded) are running at 50Hz.
SCSI73rm1n8r 2 years ago