Plain inverted pendulum with arduino.
- PlatformIO
- Arduino Pro Mini
- DRV8833 DCモータードライブモジュール(https://www.amazon.co.jp/gp/product/B098Q24ZV9/)
- GY-521 MPU6050 (https://www.amazon.co.jp/gp/product/B081RHK82T/)
- Ren He DC 3-6V ギヤードモーター (https://www.amazon.co.jp/gp/product/B09BCSRXFJ)
- ENEGON 9V 充電式 電池 (https://www.amazon.co.jp/gp/product/B09KTLTZV7)
Use this sketch to get offset of each axes. And set these offset to calibrate MPU6050 as followings.
mpu.setXAccelOffset(837);
mpu.setYAccelOffset(-939);
mpu.setZAccelOffset(544);
mpu.setXGyroOffset(186);
mpu.setYGyroOffset(-65);
mpu.setZGyroOffset(-28);In this project, this feature is achieved by calibrate method of IMU.