5 Commits (36a745243c2a79a6a5af1b549d2ad64d32217a92)

Author	SHA1	Message	Date
EmaMaker	36a745243c	initial yaw ctrl for turning ... gyro drift hits hard	2024-04-27 11:47:17 +02:00
EmaMaker	d1cb40d10c	perform calibration	2024-04-26 20:46:16 +02:00
EmaMaker	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
EmaMaker	942127bb44	imu: recalibrate bias at startup	2024-04-24 21:39:09 +02:00
EmaMaker	557504f87b	upload code. commented. working	2024-03-28 23:34:03 +01:00