36a745243c
initial yaw ctrl for turning
...
gyro drift hits hard
2024-04-27 11:47:17 +02:00
d1cb40d10c
perform calibration
2024-04-26 20:46:16 +02:00
fcc8a4dafd
balancing on a incline wooden board
2024-04-26 18:37:48 +02:00
79cffdac4e
initial velocity control loop
...
Achieved with a PI controller checking the current velocity as output by the motors. Since I'm
using stepper motors, the angular velocity is exact (if the motors are not skipping steps) and does not need encoders on the
motors.
TODO: add a little deadzone either on the setpoint or on the velocity, to prevent
oscillations when around the equilibrium point.
2024-04-25 21:19:16 +02:00
27ff883a37
misc commit, discard this if committing
2024-04-24 22:06:27 +02:00
64e3c4dfcb
ArduPID -> QuickPID library
...
basically the same library, plus the modifications I made myself
plus let the second core also handle the direction of the motors
2024-04-24 22:03:57 +02:00
942127bb44
imu: recalibrate bias at startup
2024-04-24 21:39:09 +02:00
b9b03fcdb4
balance PID: update input before computing
2024-04-06 12:55:45 +02:00
df72e84e54
turn LED off when setup is finished
2024-04-06 12:55:45 +02:00
9debfe47c1
myController -> pitchCtrl
2024-04-06 12:55:43 +02:00
c5be98dd57
structure: 95mm wheel with rubber bands as tire
2024-04-02 21:24:16 +02:00
8acae10b21
matlab simulations
2024-03-28 23:39:24 +01:00
2e66a2b1e2
update .gitignore
2024-03-28 23:35:21 +01:00
5e9aebfae1
structure: pcb-holder and imu-holder
2024-03-28 23:34:28 +01:00
557504f87b
upload code. commented. working
2024-03-28 23:34:03 +01:00
EmaMaker