The opamp shortcut proved to be worth it (will put schematics later) ! The motor controller gave a smooth control response. Charged with excitement, we connected both motors to the same hbridge. Adjusted the gains for pure proportional control, the motors moved in the tilted direction.
Temporary mounting for the IMU
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| Sticking it all together with electric tape :D |
Adding a little counterweight..... otherwise it would keep leaning and hence moving towards one side
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| Couldnt find anything except pliers, so here it goes |
This is balanced without power. Let's plug in the power and do some gain fine tuning with our trusty USBTiny.
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