AutoBalanceBot

An "Auto balancing robot" project using TM4C123G launchpad, MPU6050, L298N and DC encoder motors

Coding convention

1. Variable name:
   • Starting character -> Non-capital (ex: mySpeed)
2. Function name:
   • Starting character -> capital (ex: SpeedCalc)
3. Constant name:
   • All letters -> capital (ex: SET_SPEED)
4. File name:
   • All letters -> capital (ex: I2C.h, MPU6050.c) (except main.c & include.h)
5. Commenting:
   • Function: link1, link2.

Modules included:

1. MPU6050

• I2C (2 pins: PA6, PA7)
• DMP
• Complementary filter
• Kalman filter

2. Motors

   • Motor control (L298N):
     • PWM speed control (2 pins: PB6, PB7)
     • Direction control (4 pins: PE1-PE4)
   • Speed reading (Incremental encoders)
     • QEI (2 pins: PD6, PD7)

3. PID control