MPU6050 Ardiuno bot UPDATE

UPDATE TO STOP TWITCHING

MPU6050 + Arduino Gyro bot

First up , a huge thanks to all of you who followed the link it really helps :)

THE PROBLEM

In the previous post the bot had this tendency to constantly twitch once it regained it's original orientation. Here's a video that demonstrates the difference between the bot with and without the software fix.

To fix the problem all you gotta do is fix this -

problem in the code

Here's the solution -

fix to take the threshold as a range 

Setting the resting yaw value in a range between 3 and -3 does scrub some accuracy but it's very little , come on it's not like we're writing code for self driving cars here haha.

This little buffer on both ends of 0 , 3 degrees on each side allows for the overcorrection the wheels do when returning to 0 nf BOOM it doesn't twitch no more.

Here's the new code with the fix.

CLICK MEEEE!!!   ( GitHub )



Hope this helped and more exciting projects coming soon.