Control of a balance robot - documentation of the induction phase and important to-dos
In the following, a collection of notes from the "Balboa 32U4 in detail" description is built up, which connections are to be observed.
ToDos (collection that still needs to be cleaned out): check if taken into account
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as the batteries run out, the voltage supplied to the motor drivers (VSW) will decrease, which will make the motors slower. It is possible to account for this code monitoring the battery voltage. -
quadrature encoder transition detection: often detecting by monitoring both encoder channels directly. Since transitions on the Balboa encoders can occur at high frequencies when its motors are running, it is necessary to use the AVR's pin change interrupts (or external)
Edited by Julian Zimmer