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Topic: 2 wheel balancing robot error (Read 680 times) previous topic - next topic

asad123

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 ?

AWOL

#1
Feb 21, 2016, 08:54 pm Last Edit: Feb 21, 2016, 10:13 pm by AWOL
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.

jremington

There are errors in your program.

MarkT

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.
[ I will NOT respond to personal messages, I WILL delete them, use the forum please ]

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