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va3wam / TWIPi

Next generation of inverted pendulum Robot by Doug and Andrew
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IMU not aligned properly #15

Closed va3wam closed 5 years ago

va3wam commented 5 years ago

With the new version of TWIPi the axis which we need to use to balance the robot has changed. At present the balancing logic triggers when the robot is turned side to side rather than front to back. We just need to change which axis we are using to sense the robots balance.

va3wam commented 5 years ago

Currently the robot shows gyro angle of 0 when it is lying on his right side. Our goal is to have gyro angle 0 when he is standing upright. The new board orients the IMU so that positive Y points forward and positive X points to the robot's left. This means that we need to change the code to use the Y axis instead of the X axis.

va3wam commented 5 years ago

Version 2.2.2 now has the gyro and accelerometer registers changed to accommodate the new orientation of the IMU in the robot chassis.