BalancePiBot - aka FALL-E

A balancing robot build around a Raspberry Pi 3.

Telemetry Viewer

Featuring telemetry transmission + viewing
Telemetry sent:
- Angle from complementary filter
- Angle from Gyroscope
- Angle from Accelerometer
- Control from PID algorithm
- Frequency

Usage

Install packages in requirements.txt
Check in robot.py variables at the top and see if you want to change something there
- PID variables for PID tuning (stabilisation)
- If you like to have logging / telemetry transmission enabled
- If you want to have telemetry enabled:
  - Set TELEMTRY_TRANSMISSION variable in robot.py to True
  - Run telemetry_server.py within telemetry folder
  - Set SERVER_URL within robot.py to the IP adress + Port (5000) you run the server on (eg.: http://192.168.178.123:5000)
  - The robot will now transmit every TELEMETRY_BATCH_TIME_SECONDS its recorded telemetry data
  - Enter your server adress + port to the browser to connect to the telemetry viewer (Note: IF you want to connect locally, use localhost:5000)

Wiring hints

Stabilisation

Stabilisation is done using MPU6050 sensor
Complementary filter over gyroscope and accelerometer values
PID algorithm for motor control

Good 2 Know

Accelerometer: Any kind of linear acceleration, including the orientation of the device because of the acceleration due to gravity from Earth. Can determine rotation to some point due to the sensor itself often isn't in the center of rotation, causing acceleration by centripetal forces. Doesn't work when in the center of rotation, cannot distinguish rotation from acceleration.

Gyroscope: any rotation, unaffected by acceleration.