Precise Control.
Description
What is the project?
This one's a fun project that uses 3 inertia wheels to control a cube. Each one of these inertia wheels react quickly and precisely to counter any tipping forces on the cube.
This type of motion is typically used in satellites and other space crafts.
The hardware can be bought from AliExpress and although it comes with a firmware loaded on it, it wouldn't be a project to just buy a cube. So I decided to program it myself.
The firmware it came with was useful in the way of using drivers and libraries for the OLED Screen, IMU, encoders and motors.
My work so far has been to write my own firmware and balance the cube. Setting the PID values was a painful, slow and boring process. But I might have to do it again for one of the wheels.
If you see closely in the video, one of the inertia wheels is unbalanced. It needs to be hammered straight! Once that is done, the cube will not oscillate as it does right now.
This project is 'in progress'. I will post more details about this project once it's completed.