Mini 2-wheels self-balancing robot

[fkwl]

Description: This is a small 2-wheels robotic project. I learnt most of the algorithms from the Segwii project (http://www.segwii.com). The inertia measurement unit (IMU) and the geared motors are sourced from Cytron itself. The 'complementary filter' approach is used to combine the signals from the accelerometer and gyroscope.
Microcontroller: Microchip's dsPIC33F128GP204
Language: C
Compiler: MPLAB C30
IMU: 5-axis (3 for accelerometer, 2 for gyroscope), I use the SN-IMU5D from Cytron. Actually only 1 axis each is used for the accelerometer and gyroscope.
Battery: 7.4V 1000mA/hour Lithium Polymer
Motor: 150:1 micro-metal geared motor. Initially I used Cytron's SPG10-150K, later I switch to the high-power (HP) version from Pololu.
Motor Driver: Standard H-bridge

Video: http://www.youtube.com/watch?v=LJTW1lulGBY

[choyhong88]

i am using dspic30f4013, may u share your source code, i m stuck with the coding...

thank in advance

[fkwl]

Sorry not convenient to share the source codes for now. A proprietary RTOS is used for the project, with the balancing and motor control processes running on top of it. Try to read the article by Shane Colton of MIT, it should help.
http://web.mit.edu/scolton/www/filter.pdf