My speed comment may have been wrong, I have been doing some more tests today using PWM and directlly relating the speed to tilt, its more agreeable so far but not there yet of courseemma1997 wrote: ↑Fri Jun 11, 2021 6:37 pmI've been following this thread from start and find it fascinating having built a few myself back in the Trinity College Contest days. I suspect, if anything, smaller wheels would be better. More torque and faster response w/o stalling. Are you ramping up/down the steppers properly?
IMO the language chosen may not be best for this type work. I found Python (or any interpreter) very difficult to do time critical applications and prefer C or ASM. PID easy for either of those last two. Also found hand tuned complementary filters preferable to Kalman.
Of course this was back in the old days before everybody just depended on prefab libraries. We had to write all our own from scratch back then. And beware getting trampled by Mastodons. lol
From what i have read, which is a fair bit the gyro gives good angles but is too sensitive to vibrations, the accelerometer gives poorer angles and will drift over time but is not affected by vibrations - the solutions seems to be a mix of the two.
It may well be that I have chosen a tough language as a starter project and that is also backed up by 99% of balancing 'bots being done on an Arduino using what appears to be 99% the code But i'm not giving up yet.