Two-wheeled balancer

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ahenshaw
Experienced Member
Posts: 96
Joined: Mon Mar 22, 2010 8:55 pm

Two-wheeled balancer

Post by ahenshaw »

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
Member++
Posts: 23
Joined: Thu Feb 09, 2017 4:53 pm

Post by kevpatt »

Nice!