The Flow of Working Controlled Self Balancing Robot

Since I know Arduino, I spend some of my time. I'm about 2 months about arduino. Here, like my previous problem (some solved in this awesome forum), Let me ask you in relation to the flow of working controlled self balancing robot.

Before I do something, 3rd question is "How do they work together?"

Here, understanding the circuit diagram and codes, I want to know exactly HOW bluetooth hc-05 controls the motor while the mpu6050 balances the motor.

I assume:

If the power is ON then
The mpu6050 starts to balancing the robot by Kp, Ki and Kd to force motor to stable the body - can go forward or backward, even stop.
If bluetooth commands to go forward or backward .... What will mpu6050 do???

I assume that there must be new MPU6050 configuration, such as Kp2, Kd2 and Ki2, for bluetooth. What do you think?

When I want to write the codes, is this following flow correct?

If bluetooth commands then
    mpu2 willl
    motors will ...

I get stuck on this, really.

what does bluetooth have to do with this?

there should be a closed loop routine that adjusts the motors depending on acceleration measurements.

as I said - to give a command to turn right, forward, etc (for speed adjustment).

the very significant code implementing the closed-loop control of the motors based on accelerometer measurements controls the velocity and direction based on the accelerometer targets. presumably those targets are zero for both the x and y directions.

command from bluetooth (or any other source) simply set the target values. if the velocity in not zero in the x direction, the motors are moved to provide that velocity.

hopefully you recognize that the bluetooth aspect of this project is trivial compared to the motion sensing and control

1 Like

hehehe .. thanks, I understand now.

After this, I will study hard to learn about motion sensing and control. Thanks again. done! yes!

This topic was automatically closed 120 days after the last reply. New replies are no longer allowed.