Arduino Self Balancing Robot Via Stepper Motor by AVCU Elif

Arduino Self Balancing Robot Via Stepper Motor by AVCU Elif

Author:AVCU, Elif [AVCU, Elif]
Language: eng
Format: azw3
Published: 2019-02-08T16:00:00+00:00

// ------------------------------------------------------------------------

// Declaration

// ------------------------------------------------------------------------

int LoopTimeMsec = 12;

double LoopTimeMicrosec = LoopTimeMsec * 1000;

unsigned long ProgStartTime; //general Start Time

const int StartDelay = 20000; // msec

unsigned long CheckTimeStart;

int CheckTimeEnd;

boolean Running = false; // Speed Control is running

double TuningValue;

float SetpointA = 0;

float SetpointB = 0;

float setPoint = 0;

float Angle = 0; // Sensor Aquisition

float Calibration = -3.7;

float CalibrationAngle;

float Voltage;

float error ;

float average;

float PositionA;

float PositionB ;



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