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How to make a Balboa robot balance, part 4: a balancing algorithm
- 29 January 2018’m Back.
Hey, with further sleuthing of code I’m guessing… are you folks reading the accelerometer values in Balance.cpp?
It seems like there is testing if there is greater than 0 values in Z at rest . and a test with the x axis to run the standup code. I’m I right? Is it possible these tests are not > 0 at 90 degrees?
thanks in advance.
How to make a Balboa robot balance, part 4: a balancing algorithm
- 29 January 2018Hi,
I can get my balboa with arms installed to balance, if I start it standing up, but it will not stand up from a 90 or 85 degree angle lying down.(the angle the robot rests at lying down with the arms installed.)
I have been changing these values in Balance.cpp:
if (angleRate > -2 && angleRate < 2)
{
// It's really calm, so we know the angles.
if (imu.a.z > 0)
{
angle = 110000; changed to 90000 or 80000
}
else
{
angle = -110000; changed to -90000 or -80000
}
distanceLeft = 0;
distanceRight = 0;
}
}
I am I on the wrong track?
I cannot get the red led on with the initial standup code to engage when I press button A.
What part of the balance program “sees” the resting angle when the robot is face down at 110 degrees?
Where should I look to change it to about 87 degrees?