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Re: Building self balancing scooter- troubles with Integrating Gyro
Let me start first off by stating that I am not a Gyro expert. There are two people on this site that have way more experience than I do, they are: Kevin Watson and Dr. Eugene Brooks.
I would suggest starting by searching for posts with "gyro" in the title.
Dr. Brooks and Kevin each take different approaches to integrating the Gyro. In a nutshell, Kevin uses a dead band to eliminate the drift and noise. Dr. Brooks integrates the noise which actually gives a higher resolution. Both approaches are correct the trick is to determine which is most appropriate for your application.
The next question I would like to ask you is which microcontroller you are using to create this project? And are you using an 8-bit or 10 bit ADC? In either case make certain that the offset is not randomly chosen as the center of the ADC range. Make certain you are actually measuring the output with zero motion from the Gyro, using that value for your offset.
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CalGames 2009 Autonomous Champion Award winner
Sacramento 2010 Creativity in Design winner, Sacramento 2010 Quarter finalist
2011 Sacramento Finalist, 2011 Madtown Engineering Inspiration Award.
2012 Sacramento Semi-Finals, 2012 Sacramento Innovation in Control Award, 2012 SVR Judges Award.
2012 CalGames Autonomous Challenge Award winner ($$$).
2014 2X Rockwell Automation: Innovation in Control Award (CVR and SAC). Curie Division Gracious Professionalism Award.
2014 Capital City Classic Winner AND Runner Up. Madtown Throwdown: Runner up.
2015 Innovation in Control Award, Sacramento.
2016 Chezy Champs Finalist, 2016 MTTD Finalist
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