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…
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hi, the robot looks very nice, i wann do something else..i got this ADXL345 3 axis g sensor, and i wanna read it in via spidev0.1 but somehow i cant get it working does this display mod mess something up with it? im happy that my display is still working 🙂 wiring of it should be correct all just same onley this time i use ce1(pin 26 for its spi chipselect)
best regards ben
i haven’t worked with a gyro through SPI, I know that the speed of the SPI affects some components. The ADXL345 can use i2c? (which i think is easier to see)
Can you tell me how do you read data from gyro?
Via I2C. I will be posting the code soon
Hello mwiliam03,
I purchased all the parts needed to make my own Pibbot. I am newby to raspberry pi, and I am having a hard time understanding the read me pin configuration that you have with the code. Can you help me with a detailed mapping for the pins?
Thank you Tyrone