On 12/2/2013 7:02 PM, Kent A. Reed wrote: > I had thought about self-balancers before. Earlier, I had been looking > at a (now ten-month old) posting > http://www.freetronics.com/blogs/news/7235638-make-your-own-self-balancing-robot#.Up0iDtJKW6Q > > based on an MPU6050 IMU (https://www.sparkfun.com/products/11028) but > then my life crashed and burned.
<snip> > Unfortunately, the only IMU I have on hand is integrated in the > controller assembly for my quadracopter -> too hard to break it out for > experiments. I ordered 5 of the MPU6050 IMUs from eBay...they were about $3 each with free shipping. We'll see how long they take to get here from China. :) I think either will work handily for a HAL based self-balancing robot, the question will be what to use for motors and motor drivers that isn't too expensive. The Pololu basic motor drivers are pretty affordable (only a few dollars). They take PWM input, but that isn't a problem with the PRU and only needing 2 channels (we could do that with real timer hardware on the 'Bone). Suggestions for motors, motor-drivers, and wheels are welcome, otherwise the Pololu stuff doesn't seem to expensive (in the US, at least). -- Charles Steinkuehler [email protected]
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