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:
Two-wheeled balancer
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Nice!