here is a Reversed Pendulum sample using M5Stack IMU.
(BOM)
DC moter : FM90
Battery case : ４AA batteries with on\off switch
M5Stack gray
Wheels : for FS90R
DC motor control module : L298N
Interface cable : jumper wire
DC motor driver pin assignment
int pwm_a = 26;
int fw_a = 5;
int rv_a = 25;
int pwm_b = 16;
int fw_b = 17;
int rv_b = 2;
please connect M5Stack GND to the DC motor driver board GND
battery : 4 NiMh AA size
(screws)
M3/25mm : 2 (for M5Stack; one nut need to be placed beneath the screw head to ajust the screw length & 2mm thickness washer is required to keep M5Stack away from the plastic base)
M3/15mm : 4 (for DC motor driver)
M3/10mm : 2 (to fix the upper plastic to the lower)
M2/10mm : 4 (for DC motors)
(Files)
stl_file directory : 3D printer data files
(PID adjustment procedure)
1st step : set P to keep adequate level hunting
2nd step : set I to suppress hunting
3rd step : set D to keep stable operation when disturbance is applied(still TBD)
(source code)
*.ino : M5Stack code
*.pde : Prcessing code to update M5Stack PID parameter dynamically via UDP protocol
