Balance bot: ESP32 PID balance controller with BLE dashboard#3
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JaredBaileyDuke wants to merge 5 commits into
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Balance bot: ESP32 PID balance controller with BLE dashboard#3JaredBaileyDuke wants to merge 5 commits into
JaredBaileyDuke wants to merge 5 commits into
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- packages/pid: standalone ESP-IDF component (generic PID with anti-windup) - packages/sensors: standalone ESP-IDF component (MPU6050 complementary filter) - firmware: balance.c/h, Kconfig.projbuild, 4 new BLE GATT characteristics (BALANCE_CMD, BALANCE_PID, BALANCE_STATE, BALANCE_TARGET); compile-time gated by CONFIG_BALANCE_BOT_ENABLED; goto is a Phase-1 stub pending cv merge - dashboard: balance-bot capability (joypad, PID inputs, I-dump select, goto) - protocol: 4 new UUIDs (da6–da9), regenerated uuids.js/uuids.h/uuids.py Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- AngleFilter class (kalman.hpp): predict/update with online bias estimation, drop-in upgrade over complementary filter with same inputs (gyro rate + accel angle) - C wrapper API (kalman.h): kalman_angle_create/update/get/reset/destroy for use from .c files - Registered in firmware EXTRA_COMPONENT_DIRS; add REQUIRES kalman to any component that needs it Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- packages/complementary: standalone comp_filter_t with init/update/angle API - packages/sensors/Kconfig: BALANCE_BOT_IMU_FILTER choice (complementary default); alpha x100 for complementary; Q_angle/Q_bias/R_measure x1000 for Kalman - imu.c: delegates filtering to whichever package Kconfig selects; both packages always linked, dead code eliminated at link time - firmware CMakeLists: adds packages/complementary to EXTRA_COMPONENT_DIRS Select filter via: idf.py menuconfig -> IMU filter Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Picks up motor calibration orientation, ESP32 camera lifecycle (camera_ready → camera_present), overhead ArUco helper relocation, and other main-line changes since the branch's base. Resolved: - README.md: kept main's compact code-block layout and added the new packages/ entry that documents pid + sensors + filters. - fw_info.c: kept the new #endif from balance-bot's #if CONFIG_BALANCE_BOT guard and adopted main's camera_ready → camera_present rename. - uuids generated files: regenerated to fix Windows-1252 encoded em-dash in the file banners (gen-uuids drift). Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Summary
comp_filter_t); stack-allocated, zero tuning requiredbalance.c100 Hz FreeRTOS balance controller (Core 1); compile-time gated byCONFIG_BALANCE_BOT_ENABLED; 4 new BLE GATT characteristics (BALANCE_CMD,BALANCE_PID,BALANCE_STATE,BALANCE_TARGET); goto is a Phase-1 stub pending cv branch mergeuuids.js,uuids.h,uuids.pybalance-botcapability: joypad (lean + turn), live PID inputs, I-dump dropdown, goto sectionFilter selection
idf.py menuconfig→ IMU filterBALANCE_BOT_IMU_FILTER_COMPLEMENTARYBALANCE_BOT_IMU_FILTER_KALMANBoth packages are always linked;
imu.cselects between them with#if. Dead code is eliminated at link time.balance.cis unaffected — it callsimu_update()/imu_pitch_deg()regardless of which filter is active.Test plan
CONFIG_BALANCE_BOT_ENABLED=y, complementary filter — confirm no errorsCONFIG_BALANCE_BOT_ENABLED— confirm existing motor builds unaffectedcomplementaryorkalman)TODO (Phase 2)
cvbranch merged forcvPosition)🤖 Generated with Claude Code