Algorithm to control the mobile inverted pendulum Pololu Balboa 32U4 containing:
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C++ libraries (./src/drv) to access the on-board hardware
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C++ libraries (./src/mod) with estimator and control algorithms
./ | Root
balboa-32u4.ino | Main program
+ src | Source files
| + drv | Drivers files
| Encoders.h | Encoders header
| Encoders.cpp | Encoders source code
| IMU.h | IMU header
| IMU.cpp | IMU source code
| Motors.h | Motors header
| Motors.cpp | Motors source code
| + mod | Modules files
| Estimator.h | Estimator header
| Estimator.cpp | Estimator source code
| Controller.h | Controller header
| Controller.cpp | Controller source code