Closed isch4196 closed 1 year ago
Balbot is now balancing correctly. There was an issue in which the motor was vibrating too much, which messed up the sensor readings of the gyrometer. I found out that this vibration was because the step angle of the stepper motor was too high (too low resolution), so I lowered to 1/8 of its original value, and now it is much smoother.
Task: Implement balancing logic using a PID controller in the application logic.
Status: Complete with commit d399486a95f21efa17393d0b33aef1c7c36fb417