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v1.0 — Self-balancing with Bluetooth remote

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@tthc8t6 tthc8t6 released this 28 Oct 03:11
v1.0
81cb2a0

First stable release — the car balances on the ground, holds position, and can be driven over Bluetooth.

Features

  • Cascaded control: motor PI → rate PI → angle P → velocity PI, plus turn P
  • Inverse dynamics (feedback linearization) between the rate loop and the motor loop
  • Fall guard: stops above 80°, resumes after being held within 10° for 0.5 s
  • MPU6500 config self-repair (fixes the high-frequency buzz after power-on)
  • Web Bluetooth remote: https://tthc8t6.github.io/blance_car_rc/

Firmware

blance_car.hex — built with Keil MDK / ARMCC v5.06 (-O3) from this tag, 0 errors, 0 warnings.
For STM32F103C8T6 with the wiring in the README's pin map. Flash with STM32CubeProgrammer, ST-Link Utility, or:

openocd -f interface/stlink.cfg -f target/stm32f1x.cfg -c "program blance_car.hex verify reset exit"

Known issues

  • Lifting the car winds up the velocity-loop integral; press the button to stop before lifting and again after setting it down
  • No remote timeout: if Bluetooth disconnects, the last command keeps running
Assets 3
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