healthtech-mobility

Self-Stabilizing System using BNO055 Sensor and Servos

This program implements a self-stabilizing system using a BNO055 sensor and three servos. The program uses a PID control algorithm to adjust the servo angles and keep the sensor upright

Hardware

BNO055

     +----------+
     |         *| RST   PITCH  ROLL  HEADING
 ADR |*        *| SCL
 INT |*        *| SDA     ^            /->
 PS1 |*        *| GND     |            |
 PS0 |*        *| 3VO     Y    Z-->    \-X
     |         *| VIN
     +----------+

The BNO055 sensor is an integrated 9-axis motion sensor.

Servos

Current servos used only have 180 degrees of motion

Software

Basic explanation of algorithm:

1. Read orientation data from BNO055
2. Calculate difference between desired orientation angles and current angles
3. Adjust the servos based on the difference
4. Repeat

License

This project is licensed under the GNU Affero General Public License v3.0 - see the LICENSE file for details.