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Step 8Software overview.
The Segstick's software is written in C for the Arduino. The full software is attached below as a text file. It's only about 120 lines of code, aided somewhat by the convenient Arduino libraries. The code is commented, but for the next few steps I'll go through the important parts of the control algorithm, since this is where the magic happens.
The feedback controller really has two critical components: a digital filter that merges signals from the accelerometer and the gyro into a reliable angle estimate, and a proportional-derivative (PD) control algorithm that determines the corrective action to create by outputting voltage to the motors. These two components are the key to making a good self-balancing platform.
Other less glamorous but also important ancillary functions are signal input and scaling, steering, PWM generation, output limiting, and debugging. I'll briefly mention these, too, in the next few steps.
The feedback controller really has two critical components: a digital filter that merges signals from the accelerometer and the gyro into a reliable angle estimate, and a proportional-derivative (PD) control algorithm that determines the corrective action to create by outputting voltage to the motors. These two components are the key to making a good self-balancing platform.
Other less glamorous but also important ancillary functions are signal input and scaling, steering, PWM generation, output limiting, and debugging. I'll briefly mention these, too, in the next few steps.
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