How to write the PID controller for the self balancing robot?

Leonardo · 2018-10-30 21:58:30 UTC

The instructions on https://openlab.makeblock.com/topic/5729b96b591c0ad43a4764b2
are very good but there is no hint how to code the PID controller for the robot!

There is written
You can download the source code of the project from https://github.com/Makeblock-official/Makeblock-Libraries/tree/master/makeblock/example/Firmware_for_MegaPi

This link is invalid. Maybe

github.com

Makeblock-official/Makeblock-Libraries/blob/master/examples/Firmware_for_MegaPi/Firmware_for_MegaPi.ino

/*************************************************************************
* File Name          : Firmware_for_MegaPi.ino
* Author             : myan
* Updated            : myan
* Version            : V0e.01.015
* Date               : 03/01/2018
* Description        : Firmware for Makeblock Electronic modules with Scratch.  
* License            : CC-BY-SA 3.0
* Copyright (C) 2013 - 2016 Maker Works Technology Co., Ltd. All right reserved.
* http://www.makeblock.cc/
* History:
* <Author>         <Time>         <Version>        <Descr>
* Mark Yan         2016/03/12     0e.01.001        build the new.
* Mark Yan         2016/05/04     0e.01.002        Added encoder and compass driver and fix some bugs.
* Mark Yan         2016/05/07     0e.01.003        Delete watchdog and add On board stepper driver.
* Mark Yan         2016/05/24     0e.01.004        Fix issue MBLOCK-1 and MBLOCK-12(JIRA issue).
* Mark Yan         2016/06/07     0e.01.005        Fix encoder speed issue.
* Mark Yan         2016/06/22     0e.01.006        Fix issue MAK-187 (bluetooth fatal error from MBLOCK-12)
* Mark Yan         2016/06/25     0e.01.007        Fix issue MBLOCK-38(limit switch return value).
* Mark Yan         2016/07/06     0e.01.008        Fix issue MBLOCK-61(ultrasonic distance limitations bug).

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is the correct?

I have connected to the serial port, have upgraded the firmware.
But how does the “self balancing robot” know that he has to use this code? If I switch on the board it does nothing.

tech_support · 2018-10-31 03:21:43 UTC

Sorry, we are not updating anything in the openlab website and some of the links may not be working. Sorry for any inconvenience caused.
And you are right, the one you posted is correct firmware for MegaPi (10 forms). In the Makeblock app, when you choose the correct form, then it will perform the corresponding codes. Once power on the self-balancing robot, go to Makeblock App and select “self-balancing robot”. If it still makes nothing, use mBlock 3 (PC software) and do reset default program.
It is also important to make sure enough power, correct assemble.

system · 2018-11-30 03:21:52 UTC

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