Here is my first attempt at getting PiBBot balanced.
This is a very early prototype, confirming that all the hardware works and the I can get the time of the main loop down to 20ms, which was easy.
This prototype also helped me get my head around the code and math need to balance.
I am waiting on the delivery of some hardware to build my final and larger version. Which will have a battery pack placed up high, this will help a lot with the balancing.
The main components used to balance this prototype;
- MinIMU-9 v2 Gyro, Accelerometer, and Compass (L3GD20 and LSM303DLHC Carrier)
- Solarbotics GM6 120:1 Mini Gear Motor Offset Output
- Dual H-Bridge Motor Driver
- 315MHz RF M4 Receiver
- 12v battery
The receiver allowed my to change the PID values in real time.
There is also a lot of other components on the breadboard, but they are not needed to balance. Eg TFT, 8x8Matrix, Temp monitor...