Hi Nahua, welcomeThanks for your PM and the nice wordsyour bot is balancing pretty well, congratulation P(i)D tuning seems optimalThe forward/backward drift is typical and normal, it will disappear with your encoder implementationAre you still using EMG30 motors?? can you quantify backlash ??Oh... one last comment. Don't be shy, make it taller
Im starting to implement encoders and then make:torque = P1 + D1 + P2 + D2(1 = error from sensor --> complementary filter)(2 = error from encoders)
1. Is a 10ms loop sufficient, or should I try to go faster if my peripherals allow it?
2. I can't access the A2D on my CPU. I need to purchase a separate A2D chip to read the gyro. Is a 10 bit A2D sufficient, or should I go 12 bits?
3. Can anyone suggest a good standalone A2D for a balancing robot?
The robot Is starting to get heavy, 2.359 kg , don't know if that can give me some troubles..
I strongly suggest MCP3204 or 3208. I am currently testing this chip, source code available on request