ar90n/arduino-pendulum

Plain inverted pendulum with arduino

C++Apache-2.0

arduino-pendulum

Plain inverted pendulum with arduino.

Requirements

PlatformIO
Arduino Pro Mini
DRV8833 DCモータードライブモジュール(https://www.amazon.co.jp/gp/product/B098Q24ZV9/)
GY-521 MPU6050 (https://www.amazon.co.jp/gp/product/B081RHK82T/)
Ren He DC 3-6V ギヤードモーター (https://www.amazon.co.jp/gp/product/B09BCSRXFJ)
ENEGON 9V 充電式電池 (https://www.amazon.co.jp/gp/product/B09KTLTZV7)

Schematic

Calibration of MPU6050

Use this sketch to get offset of each axes. And set these offset to calibrate MPU6050 as followings.

mpu.setXAccelOffset(837);
mpu.setYAccelOffset(-939);
mpu.setZAccelOffset(544);
mpu.setXGyroOffset(186);
mpu.setYGyroOffset(-65);
mpu.setZGyroOffset(-28);

In this project, this feature is achieved by calibrate method of IMU.

See Also

mpu6050

License