Prop Based Balancing Robot
JohnBF
Posts: 107
I'm still working on re-making my BS2/Ping))) based balancing robot (http://forums.parallax.com/showthread.php?p=623316) into a prop-based robot that balances using an accelerometer and rate gyro.
The robot balances very nicely using the propeller and Ping))),·and I added some enhancements, like using an IR remote to fine-tune the balance point on the fly.
I installed two memsic 2125 accelerometers, one at the bottom, in line with the servo axles, and one at the top, and a rate gyro in the middle.
I'm·using the PLX-DAQ·software to capture readings from these three sensors while the robot is actually balancing to see if I can develop an algorithm to use the new sensors. So far, none of my simple strategies have worked. I'm looking forward to see if anyone makes progress on implementing a Kalman filter for the prop.
Attached is my current spin code -·I'd love to hear of·progess anyone else is making along these lines.
/John
The robot balances very nicely using the propeller and Ping))),·and I added some enhancements, like using an IR remote to fine-tune the balance point on the fly.
I installed two memsic 2125 accelerometers, one at the bottom, in line with the servo axles, and one at the top, and a rate gyro in the middle.
I'm·using the PLX-DAQ·software to capture readings from these three sensors while the robot is actually balancing to see if I can develop an algorithm to use the new sensors. So far, none of my simple strategies have worked. I'm looking forward to see if anyone makes progress on implementing a Kalman filter for the prop.
Attached is my current spin code -·I'd love to hear of·progess anyone else is making along these lines.
/John
Comments
Also, I hope that if I wait long enough, someone will make a serial gyroscope on a breakout board, letting me ignore all the analog to digital stuff and focus on the math and motor control.