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Remote controlled balancing robot

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Published on Sep 23, 2012

Remote controlled balancing robot

Arduino Uno R3
Pololu 29:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoder
Pololu Wheel 90x10mm
Pololu Dual VNH5019 Motor Driver Shield for Arduino
SparkFun IMU Analog Combo Board -- 5 Degrees of Freedom IDG500/ADXL335
Nyko Wireless Kama

I use a complementary filter to estimate the tilt angle and rate from the IMU vertical and longitudinal accelerometers and tilt gyroscope. The control loop has an outer PID loop of motor speed with tilt angle command output (from the encoders), a middle loop of tilt angle with tilt rate command output, and an inner loop of tilt rate with motor PWM command. There's a separate loop to control yaw rate (turning) which is just PID with a setpoint from the Wii Nunchuck, input from the yaw gyroscope, and output of a differential PWM motor command.

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