/beaker3

balancing robot

Primary LanguageC++

Relevant Files:

  1. maple.m - the matlab file that generates A, B, K matrices
  2. balancer.ino - the main arduino file to compile (and upload to robot)
  3. estimator.cpp - the full state estimator (wraps Kalman filter)
  4. servoMotor.cpp - small class to help read data from encoders

Dependencies:

  1. Wire.h - this is a core Arduino lib
  2. Adafruit_Sensor.h - this is a core Ardruino lib
  3. Adafruit_BNO055.h - https://github.com/adafruit/Adafruit_BNO055
  4. SoftwareSerial.h - this is a core Arduino lib
  5. SabertoothSimplified.h - https://www.dimensionengineering.com/info/arduino
  6. BasicLinearAlgebra.h - https://github.com/keithmgould/BasicLinearAlgebra
  7. kalman.h - https://github.com/keithmgould/kalman-cpp

STEPS:

  1. Run matlab script (maple.m) to generate A, B, K matrices.
  2. Copy matrix values into the estimator.cpp file.
  3. make the main file (balancer.ino)