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A self-balancing robot coded in Rust

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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.

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A self-balancing robot coded in Rust

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