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
Revision 2:ad080363a22c, committed 2015-04-06
- Comitter:
- nicovanduijn
- Date:
- Mon Apr 06 16:25:18 2015 +0000
- Parent:
- 1:bf71a7bd2d3e
- Child:
- 3:dd0c62b586ea
- Commit message:
- Starting point;
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Fri Mar 06 17:12:47 2015 +0000
+++ b/main.cpp Mon Apr 06 16:25:18 2015 +0000
@@ -44,7 +44,7 @@
float kp = 800; // Proportional gain
float kd = 90; // Derivative gain
float ki = 4; // Integrative gain
-float OVERALL_SCALAR = 7000; // Overall scalar that speed is divided by
+float OVERALL_SCALAR = 7000; // Overall scalar that speed is divided by
float accBias = 0; // Accelerometer Bias
float gyroBias = 0; // Gyro Bias
float accAngle = 0; // Global to hold angle measured by Accelerometer
@@ -94,7 +94,7 @@
dAngle = -(imu.gx-gyroBias); // This is angular velocity
iAngle=(0.99*iAngle+0.01*gyroAngle); // Sorta- running average-integral thing
if(abs(pAngle)>=0.6&&abs(pAngle)<=25) { // If it is tilted enough, but not too much
- speed=-(ki*iAngle+kd*dAngle+kp*pAngle)/OVERALL_SCALAR; // drive to correct
+ speed=-(ki*iAngle+kd*dAngle+kp*pAngle)/OVERALL_SCALAR; // drive to correct
if(speed<-1) speed=-1; // Cap if undershoot
else if(speed>1) speed=1; // Cap if overshoot
} else speed=0; // If we've fallen over or are steady on top