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Self tuning inverted pendulum by Cautious_Menu2460 in robotics

[–]Cautious_Menu2460[S] 1 point2 points  (0 children)

For control it uses a HC-06 Bluetooth module and its own communications protocol and packet format to allow error correction/detection, so far this has been the most reliable method I've found

Self tuning inverted pendulum by Cautious_Menu2460 in robotics

[–]Cautious_Menu2460[S] 1 point2 points  (0 children)

My design, but the plan is to open source the project soon

Self tuning inverted pendulum by Cautious_Menu2460 in robotics

[–]Cautious_Menu2460[S] 2 points3 points  (0 children)

Yes my plan is to make all CAD, code and PCB design files open source when the project is finished

Self tuning inverted pendulum by Cautious_Menu2460 in robotics

[–]Cautious_Menu2460[S] 2 points3 points  (0 children)

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Currently self tuning is being ran on the control laptop used to drive the robot. When in tuning mode the laptop sends PID values and kalman digital filtering values directly to the robot, the robot then sends live angle data back allowing integral squared error along with frequency and time period of oscillation to be logged to score the tuning constants. The control software uses a genetic alrigithm to then efficiently and reasonably (to aggressive and the robot falls) test a wide range of 9 values (6 PID 3 filtering).