Arduino Balancing Robot - work in progress

It's a work in progress.. I'm trying to learn P.I.D. controller with this robot. It came out that I don't really need the 'D' calculation. So I only use 'P' and 'I'. Attempt to understand Kalman Filter is a pain in the ass! Hell.. I can't even understand the simpler complementary filter. So I wrote my own dumb filter that surprisingly work... :P I'm using Jeff Rowberg's library to get raw data from MPU-6050 IMU sensor. Thanks a lot Jeff Rowberg.. I won't share any source of this project anytime soon, until it really well finished. You can see how it is terribly not stable yet. Parts list : - Arduino Pro Mini - 5V, 16MHz w/ ATmega328P - Clone (or counterfeit for more precise - sorry arduino, but I'm in a very tight budget). - GY-521 (MPU-6050 IMU sensor module). - L293D motor driver. - A couple of cheap DC motors. - Laser cut acrylic for the body frame.

Видео Arduino Balancing Robot - work in progress автора Opel Fantasies