Selfbalancing robot in Arduino. Implemented with PID controllers, FIR filters, complementary filter.
Arduino
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WheelEncodersI2C
selfbalancingrobot
selfbalancingrobot_console
README.md

README.md

Selfbalancing-robot

Selfbalancing robot in Arduino. Implemented with PID controllers, FIR filters, complementary filter. More info at http://sebastiannilsson.com/k/projekt/selfbalancing-robot/

Folders: selfbalancingrobot is the main code for the balancing robot. You can use this without the console if you want. Just comment everything with I2C communication to the console.

selfbalancingrobot_console is the code for the console. Uses a nokia display and some tatile buttons for on-the-fly configuration of the robot. Much faster than uploading new code with different parameters.

Libraries: FIR filter library at https://github.com/sebnil/FIR-filter-Arduino-Library

FreeIMU library at http://www.varesano.net/projects/hardware/FreeIMU

PID library at https://github.com/br3ttb/Arduino-PID-Library

Button library at https://github.com/JChristensen/Button

Adafruit_GFX library (for the console) at https://github.com/adafruit/Adafruit-GFX-Library

Adafruit_PCD8544 library (for the console) at https://github.com/adafruit/Adafruit-PCD8544-Nokia-5110-LCD-library