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.
XCore Project reviews, ideas, videos and proposals.
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