Skip to content
/ zen Public
forked from japaric/zen

A self-balancing robot coded in Rust

License

Notifications You must be signed in to change notification settings

odlg/zen

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

1 Commit
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

zen

A self-balancing robot coded in Rust

Currently the application is configured for manually tuning the PID controller. The robot expects a 20 byte serial frame that contains: (N = number of samples to run for: u32), (set point: f32), (K_p: f32), (K_i: f32) and (K_d: f32). Upon receiving a frame the robot will run the PID control loop for N iterations; while running the robot will log the following data: (acceleration in the Y axis: i16) (acceleration in the Z axis: i16) (angular rate in the X axis: i16) (estimated tilt angle: f32) (PID controller output = (non clamped) PWM duty cycle: f32). The data will be logged in 18 byte (including the zero delimiter) COBS frames where the decoded frame contains a CRC16 (ARC) checksum at the end.

Part list

License

Licensed under either of

at your option.

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, as defined in the Apache-2.0 license, shall be dual licensed as above, without any additional terms or conditions.

About

A self-balancing robot coded in Rust

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • Rust 95.4%
  • GDB 3.6%
  • Logos 1.0%