23e63c7625
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. |
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| .. | ||
| Madgwick.cpp | ||
| Madgwick.h | ||
| imu.ino | ||
| motors.ino | ||
| selfbalance-madgwick.ino | ||