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 ...
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
