Yet Another Balancing Robot Project Moving and Turning

The parts list can be found via my post to the Pololu site: http://preview.tinyurl.com/36a2fdv

Parts from www.Pololu.com

SVP-1284 (ATmega1284P) using a Kalman filter
100:1 Micro Metal Gearmotor HP
LPY510AL Dual-Axis Gyro
MMA7260QT XYZ-axis accelerometer
42x19mm Wheel and Encode Set
6-AAA NiMH Batteries
Pololu Carrier with Sharp GP2Y0D810Z0F Digital Distance Sensor 10cm

Category:

Science & Technology

Tags:

• Robot
• AVR
• Pololu
• Kalman
• Balance
• YaBalBot

[deadhaven]

great work!...did you use the gyro/accelerometer setup to turn or just balance? im trying to set up a gyro/accelerometer combo to find degree orientation as I turn

[16mbuckley]

@deadhaven I used it to balance. I have another version of the bot that uses the gyro for the rotation. I take readings at a fixed interval and sum them and then convert to degrees. Here is the puedo code:

gyro_sum = 0

for each time tick (10ms)

gyro = read_gyro - gyro_bias (bias is the value when not moving)

gyro_sum = gyro_sum + (gyro * 0.01)

angle = gyro+sum / 2.5 (gyro spec: 2.5mV @ 400 deg/sec or 10.0 mV @ 100 deg/sec, I used 2.5mV)

repeat while angle < desired angle

Hope this helps Mike

[JeromeDemers]

Hey Mike, nice work!

What is the next step?

[16mbuckley]

@JeromeDemers

Thanks. Making it backup. The couple of things I have tried failed. Switching to reverse is to abrupt and causes it to oscillate. I'll eventually figure it out, that's the fun!

[AleJacko]

very very nice!