Arduino Forum

Topics => Robotics => Topic started by: asad123 on Feb 21, 2016, 07:07 pm

Title: 2 wheel balancing robot error
Post by: asad123 on Feb 21, 2016, 07:07 pm
I am making a two wheel balancing robot using LSM9DS0 IMU sensor and DC motors controlled by l293d but I don't want to use wheel encoder the robot doesn't stay in one place and keeps falling over any suggestions for how to keep it in one place without using encoders ?
Title: Re: 2 wheel balancing robot error
Post by: AWOL on Feb 21, 2016, 08:54 pm
Presumably, the encoders provide some sort of feedback.
You could implement another form of feedback, or you could trust to luck.

Next post, maybe you could try some punctuation.
Title: Re: 2 wheel balancing robot error
Post by: jremington on Feb 21, 2016, 10:03 pm
There are errors in your program.
Title: Re: 2 wheel balancing robot error
Post by: MarkT on Feb 26, 2016, 01:18 pm
So if you want us to guess, omit all the details of your hardware and code.

However it is clear you cannot run both the balance and position loops from a single IMU due the
intractable amount of drift you get from MEMS accelerometers, which is why you need the encoders
to determine position.