I started my balancing attempts today by first changing the logarithmic PWM table to a linear table, and then began tuning the PID algorithm multipliers. I started with the Kp value of 23, which was what I came up with yesterday. That turned out to be too small a value, so I kept increasing it, and I also adjusted the target angle as it began to look like my original (estimated) target angle of -2 degrees was not quite correct. After some tuning I got my robot to stay upright (with just a little bit of help when it speeded up a bit too much and looked like it was about to fall)! Here is the YouTube video I recorded after it began to look like my robot can actually stay upright for a while. This is unedited as I wanted to record the exact behavior of the robot, so I could then compare the video with the logs.
Make a robot friend with Adafruit’s CRICKIT – A Creative Robotics & Interactive Construction Kit. It’s an add-on to our popular Circuit Playground Express, FEATHER and other platforms to make and program robots with CircuitPython, MakeCode, and Arduino. Start controlling motors, servos, solenoids. You also get signal pins, capacitive touch sensors, a NeoPixel driver and amplified speaker output. It complements & extends your boards so you can still use all the goodies on the microcontroller, now you have a robotics playground as well.
Have an amazing project to share? Join the SHOW-AND-TELL every Wednesday night at 7:30pm ET on Google+ Hangouts.
Join us every Wednesday night at 8pm ET for Ask an Engineer!
Maker Business — Fewer startups, and other collateral damage from the 2018 tariffs
Wearables — Light as a Worbla feather
Electronics — How to make your own magnetic field probe!
Biohacking — The State of DNA Analysis in Three Mindmaps
Python for Microcontrollers — One year of CircuitPython weeklies!
No comments yet.
Sorry, the comment form is closed at this time.