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Arduino

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MEMS

L293D Arduino UNO

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MPU6050

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L293D

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arduino UNO
L293D
6 MPU6050
(18650)

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(WTF)

Kalman or DMP


PID

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-PID

https://radhesh.files.wordpr
ess.com/2008/05/pid.jpg
PID Parallel

http://www.electronicshub.org/wp-
content/uploads/2015/12/Interacting-PID-
Equation.jpg
PID Series 11
- Kalman



http://cmackimo.blogspot.tw/2011/05/kalman-filter-nxt.html

Kalman 12

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A4988
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arduino leonardo
A4988
6 MPU6050
(18650)

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:

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Franko



arduino UNO
L293D
6 MPU6050

(18650)

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-PID

P I D



Kd
KiKi

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- Kalman
xk+1=Axk+Buk+wk
yk = Cxk + zk
AB C
k
x
x

u
y z
y
x
w y x
z

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