Hello everyone, I am fairly new to arduino and electronics and I wanted to try making a balancing robot project to learn a few concepts. I have looked at a lot of similar projects people made. However, I have a couple of questions:
I saw that the best thing is to use encoders alongside an IMU. Will the interrupts in the code cause any issues?
I tried modeling the system (not the whole loop just the system dynamics) but I am not very confident of the result I got. I have attached the calculation and I would really appreciate any comments that can help me out with this.
Thank you in advance for your input and comments.
Balancing Robot Control Model.pdf (292 KB)