Status: Under development
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.