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
History
most current version;
2015-04-20, by nicovanduijn [Mon, 20 Apr 2015 16:33:09 +0000] rev 3
most current version;
Starting point;
2015-04-06, by nicovanduijn [Mon, 06 Apr 2015 16:25:18 +0000] rev 2
Starting point;
improved formatting of comments (minor changes)
2015-03-06, by nicovanduijn [Fri, 06 Mar 2015 17:12:47 +0000] rev 1
improved formatting of comments (minor changes)
working! May be improved slightly by adjusting kp, kd, ki and overall_scalar. But works very well as-is!
2015-03-06, by nicovanduijn [Fri, 06 Mar 2015 17:09:31 +0000] rev 0
working! May be improved slightly by adjusting kp, kd, ki and overall_scalar. But works very well as-is!