e70f3fe1e5
sim: nonlinear simulation
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Demonstrates both the analytical solution and the current PID values work
2024-01-13 13:15:52 +01:00
83f28d04a2
sim: let matlab derive transfer function
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and recalibrate pid with that
2024-01-13 13:15:29 +01:00
ca0207932d
update .gitignore
2024-01-13 13:14:54 +01:00
7b7c09714d
[UNSURE] open-loop wheel sync
2024-01-12 13:43:05 +01:00
b5798d2eb3
Revert "pid: eyeballed for a fully charged battery"
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This reverts commit 23e63c7625
2024-01-12 13:34:05 +01:00
9f02ddf349
update README.md
2024-01-05 15:58:03 +01:00
23e63c7625
pid: eyeballed for a fully charged battery
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Made a video showing the result. Apparently the center of mass is not exactly at the center of the
robot and the battery needs to stick out a bit at the front to rebalance it.
Also my desk is a bit tilted so the pitch is heavily affected by the yaw, the video shows it
clearly. Next step: a inner control loop for the yaw.
2024-01-05 14:39:14 +01:00
f2e85c4629
pid: recalibrate with ziegler-nichols2 and matlab simulation
2024-01-05 12:55:24 +01:00
75c2c969fe
update .gitignore
2024-01-05 12:54:25 +01:00
b155105099
initial discharge of madwick filter
2024-01-05 11:59:14 +01:00
e7cff85fec
robot chassis
2024-01-03 21:49:50 +01:00
3d3bcade24
parts and data on torque of the motors
2024-01-03 21:48:54 +01:00
d611ca481d
matlab simulations
2024-01-03 21:44:43 +01:00
d23cc7d750
firmware using madgwick filter
2024-01-03 21:44:34 +01:00
db359fd230
[DO NOT USE] firmware with complementary filter
2024-01-03 21:44:14 +01:00
6bf6397c18
add README.md
2024-01-03 21:43:45 +01:00
EmaMaker