Arduino

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MEMS

L293D Arduino UNO

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MPU6050

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L293D

8
()

arduino UNO
L293D
6 MPU6050
(18650)

9
(WTF)

Kalman or DMP


PID

10
-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)

21
-PID

P I D

Kd
KiKi

22

- 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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