79cffdac4e
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. |
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| .. | ||
| Madgwick.cpp | ||
| Madgwick.h | ||
| imu.ino | ||
| motors.ino | ||
| selfbalance-madgwick.ino | ||