Petter’s Robot dreams » Segway embedded by Embedded Video YouTube Direkt Why build a DIY Segway? The main reason that I wanted to build a DIY Segway was simply because I wanted to see if it was possible. I also liked the idea of building something that strongly interacts with humans.
TILTO The next step was to start writing the software. For that I studied tons of simmilar projects and had to refresh my coding competence. I had also to update all the software used to write, compile, simulate, etc., and practically had to learn again to use embedded microprocessors. The result was a long piece of software, coded in C for a 16F877 microprocesor from the PIC family (they are obsolete, but I had a couple in an old drawer...).
Balancing Robot HI guys, This is Balance1, my balancing robot, I built balance1 to demonstrate that a digital controller I had designed in MatLab actually worked in the real world. The controller i ended up using for Balance1 is a digital LQR controller to balance and also stay in the same position. The LQR controller works really well because it uses a weigthing matrix to let you make balancing more important than staying in the same position. This means that if Balance1 is going to fall over then it doesn't worry much about its position it just consentrates on balancing, then when its more balanced it tries to get back to its starting position. Robot Body:
Happy new year and welcome to Big Chuck’s Automotive Blog! The mission of BCAB is to share and discuss all of our misadventures in being shadetree mechanics. Not only will I post all the questionably sound work on my own wreck, but every week, there will be one story submitted by you, the readers, about any aspect of your life pertaining to your own automotive project or rolling piles of garbage, whichever you would prefer. I kid. The way my site visits and interesting search hit terms have been slippin’ lately, though, you’d figure I’d have gone full-time car blog. Luckily, that’s only partially true. equals zero
Segway wheel chair
Projekt SEGI Die reinen Materialkosten, für den fertigen SEGI, belaufen sich auf ca. € 1000,- Nicht dazugerechnet ist die Entwicklung, Prototypenbau und die Arbeitszeit. Endstufe, Prozessorplatine und Konstantstromquelle wurden 3mal aufgebaut. (erster Aufbau für Prototyp, zweiter Aufbau für Vortest, dritter Aufbau für Prüfung)
I have written arduino code to calculate the platform angle and it works perfectly! This is a graph made in Processing which is taking the angle calculated by the arduino from the serial port. I am oscillating the board quickly. I am using the complementary filter approach documented by alot of balancing robots. The actual code is something like: val = ((((analogRead(xPin)-xZero)/148.48)* 180/3.1415926535897932384626433832795))*-1); //accelerometer angle calculationvalG = valG + ((analogRead(gyroPin) - gZero)*4.8099347014925373134328358208962)/200; //integration of gyro and gyro angle calculationangle = (val * 0.005) + (valG * 0.995); //complementary filtervalG = angle; //drift correction of gyro integration inspired by segway™ - making a self-balancing 2 wheel vehicle