Liangshan style balancing car

The series pid used has a faster response than the parallel pid. The upright ring is the angular velocity ring, angle ring and speed ring strung together. The steering ring is added and can be transmitted through the mobile app or sensor (camera, infrared, etc.) The deviation is used for steering tracking. The quaternion used for the angle loop + the Euler angle calculated by gradient descent (the angle fused by the Kalman filter is also written in the code). I have adjusted both. Personally, I think the quaternion More responsive. The adjustable power module drawn by TI's tps63070 chip is used. The power of the 2S battery is connected to the driver, and two lines are drawn out to input the adjustable power module. The potentiometer is adjusted in advance. The power module outputs 5V to provide partial power supply. In addition, Add an identical tps63070 module to stabilize the 5V voltage to supply power to various sensors, so that the motherboard, sensors, and drivers can be powered separately, and the microcontroller can work more stably.