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Well, on mine, after I get it ballancing and remote controlled...my future plans for the extra inputs are to add ultrasonic distance sensors so it can run autonomously without bumping into walls. IR would be an alternative to the ultrasonic.
~Mike
I was thinking about the amount of vibration that comes from the motors and how it messes with the accelorameter. What if I used a vibration sensor to cancel out the vibration noise from the motors?
I would need to find a vibration sensor that outputs 2.5 volts at rest in order to easily interface it with the rest of my sensors.
What do you guys think? Would this work or is there a way to implement a second Accelorometer to cancel out the vibrations?
~Mike
You guys should try the GY401 gyro from Futaba. It is easy to interface, has adjustments for gain and delay and is far more precise than anything any of us can build. It is a bit $$$$ at $130 but is well worth the money. I have owned several and OMG they are a dream come true when it comes to gyros.
Its a military/space worthy device in my opinion.
Also, I didnt see it mentioned anywhere but if you are using gyros you need to place them ON AXIS with the wheels. Gyros sense rotation around an axis and to work properly it needs to be on axis. Accelerometers on the other hand do need to be off axis, in fact they work better off axis as their velocity increases the further away it is, but not too far.
If you guys are using accelerometers try moving them away from and toward axis until you find the "sweet" spot.
Not sure what i was thinking in that last post, of course it wouldn't work like that.
Before when I was trying this, I didn't understand the tilt.c file from rotomotion so I didn't use it at all. https://rotomotion.com/downloads/tilt.c
I had forgotten about the file but found it again and figured it out (not hard to figure out, i feel stupid lol).
So, I figured out that all I do is take readings from the gyro and both axis of the accelerometer, then call the state_update() and kalman_update() and I get back 'angle,' 'q_bias,' and 'rate.'
I can't seem to get this to work right though. CodevisionAVR is giving me quite a few errors in this section of code. It doesn't seem to like the "const float" lines...but its selective. Some it leaves along,b ut others give me an error of, "storage modifier not allowed in this context."
Could someone please take a look at this code in Codevision and tell me what I need to change?
Thanks!
~Mike Steinbach
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