It’s been a while!

In the mean time I have been working on the frame for the robot!
I mainly did some prototyping for the motor mounts. Which went… let’s say “could have gone better”😅

I had to print multiple protorypes because the motors have a fairly irregular shape, and I’m not good enough to do it first try…😅

Also, because of some mistakes when saving, there sometimes missed parts on the print that I did actually change. Which caused some errors in my brain.

Next up is the PCB and battery housing (the head of the robot)

I spent way too long on this issue 🥲

You know, a project isnt a project when theres not one moment where you think that is SO over!

That was today! I began testing some parts of the hardware before ordering the PCB and without putting it inside the frame.
At first everything went smoothly (supicously smoothly), but then… My motors began doing some weird ahh stuff where they reacted way too late after I tilted the sensor. I thought, it must be some timing issue, or my code is just so poorly written that its running too slow.
I tried some methods to make it faster (less lcd updates, etc.)

Still nothing…

Then I made a little debugging program to find out the frequency at which the code runs, and the delta time variable. Turns out that this wasnt the problem at all!! My frequency and delta time were perfect!
…

Thats when I made the discovery that I didnt think about the PID values. I just set them to some number and didn’t give it a second thought because I wont tune it anyways without the frame… But of course the motors wont respond as I hoped they would if the values weren’t even close to what they need to be😑

But we’re back babyyyyyy!!!!

Next is the frame design and CAD!

Today I integrated the new IMU i’m using into the code. (also had some beef with the library)

I edited my code to accomodate for the other IMU I’m using (since i broke the previous one, whoooppss)

After that I quickly tested the measured and filtered data, along with the pid output data.

Next up I’m gonna test my motors and encoders!

Have been working on this project for a while (before stardust).
I’m making a balancing robot using an IMU and some DC-motors with encoders.
I’m trying to make it controlable with an xbox controller and it uses a PID algorithm to balance itself.

Right now I have:

• code for measuring, computing, controlling the motors and receiving inputs from the xbox controller(untested)
• a pcb design which i can mount breakout boards on

What’s still up:

• testing the code a lot!
• getting the actual pcb
• 3d modelling the frame