ECE 4180 Spring 15
ECE 4180 Mini Project Balancing Robot Nico van Duijn Samer Mabrouk 3/6/2015 This project consists of a robot balancing on two wheels. We use the 9-axis IMU LSM9DS0 to give us Accelerometer and Gyroscope data about the current angle and angular velocity of the robot. This data is then filtered using complementary filters and PID control to drive the two motors. The motors are controlled through digital outputs in their direction and their seepd by PWM using an H-bridge
Diff: main.cpp
- Revision:
- 1:bf71a7bd2d3e
- Parent:
- 0:67f5b4041c15
- Child:
- 2:ad080363a22c
--- a/main.cpp Fri Mar 06 17:09:31 2015 +0000
+++ b/main.cpp Fri Mar 06 17:12:47 2015 +0000
@@ -62,6 +62,7 @@
#ifdef DEBUG
void callback(); // Interrupt triggered function for serial communication
#endif
+
//////////////////////////////////////////////////////////////////
// Main function
int main()
@@ -80,6 +81,7 @@
#endif
}
}
+
/////////////////////////////////////////////////////////////////
// Control function, implements PID
void control()
@@ -98,6 +100,7 @@
} else speed=0; // If we've fallen over or are steady on top
drive(speed); // Write speed to the motors
}
+
//////////////////////////////////////////////////////////////////
// Drive function
void drive(float speed)
@@ -159,9 +162,9 @@
#endif
}
-#ifdef DEBUG
/////////////////////////////////////////////////////////////////
// Callback function to change values/gains
+#ifdef DEBUG
void callback()
{
char val; // Needed for Serial communication (need to be global?)