Two-wheeled balancer

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ahenshaw
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Posts: 86
Joined: Mon Mar 22, 2010 8:55 pm

Two-wheeled balancer

Postby ahenshaw » Fri Dec 06, 2013 3:20 am

Version: 0.1
Status: Under development
License: BSD
Download: /files/project_builds/balancer.zip

This is a two-wheeled balancer that uses an XMOS XC-1 as the controller. 


Software is written in XC.  Main components include:



  • angle sensor handler,

  • PWM (pulse width modulation) for motor control

  • PID (proportional integral derivative) controller


The control loop uses an 8 ms update rate and only uses one core.


Currently, the controller is only sensing angle and balancing, the next update will include the quadrature encoder sensor.


 


Video:

Images:
kevpatt
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Posts: 21
Joined: Thu Feb 09, 2017 4:53 pm

Postby kevpatt » Mon Mar 06, 2017 5:48 am

Nice!

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