@ -29,7 +29,7 @@ On the Witty, some values are more interesting to know. In the position of the p
The gyro values are more difficult to handle. By knowing the initial position and integrating the variations, we obtain the current position. But values are very noisy and need to be filtered.
The gyro values are more difficult to handle. By knowing the initial position and integrating the variations, we obtain the current position. But values are very noisy and need to be filtered.
The Gy521 module accepts a voltage of 3 to 5V, which is necessary to develop at 5V and then navigate to 3.7V having possibly retouched the parameters.
The Gy521 module accepts a voltage of 3 to 5V, which is necessary to develop at 5V and then navigate to 3.7V having possibly retouched the parameters.
The doc of the MPU6050 is scary with 120 control registers at first glance. In fact all these registers have a correct default value for our use, except one, necessary to wake up the circuit. Two other registers will be commented on later.
The doc of the MPU6050 is scary with 120 control registers at first glance. In fact all these registers have a correct default value for our use, except one, necessary to wake up the circuit. Two other registers will be commented on later.
The module is I2C, we must add the pull-up resistor (4k7). We can ignore the 4 additional signals.
The module is I2C, we must add the pull-up resistor (4k7). We can ignore the 4 additional signals.
@ -51,7 +51,7 @@ Control theory uses beautiful mathematics and professional tools like MathLab an
We have to program the Witty with that constant idea: keep the soft compact and fast.
We have to program the Witty with that constant idea: keep the soft compact and fast.
Let us suppose, as for traditional balancing robot, we want to keep the Witty vertical. vertical. If he leans forward, he must be advanced. If the speed is proportional to the error (the angle) one has a setting P for proportional.
Let us suppose, as for traditional balancing robot, we want to keep the Witty vertical. vertical. If he leans forward, he must be advanced. If the speed is proportional to the error (the angle) one has a setting P for proportional.
An effort, friction, the fact that Pegasus is not balanced initially, can prevent reaching the desired position; it's the static error. We add to correct a fraction of the integral of the error, therefore the sum of the differences between the desired position and the successive positions. It's component I, integration.
An effort, friction, the fact that Pegasus is not balanced initially, can prevent reaching the desired position; it's the static error. We add to correct a fraction of the integral of the error, therefore the sum of the differences between the desired position and the successive positions. It's component I, integration.
