The GyroM5 system stabilizes your "drift driving" of RC car on slippery surface by automatic steering assist.
This system takes the CH1 signal of the RC receiver as the target value of the yaw rate and adjusts the steering angle so that the measured one approaches the target one by PID control.
This system serves unique features such as, WiFi interface to confirm/change PID control parameters and to download driving data by your smart-phone, variable frequency digital PID control, LCD display of the control variables and the clock, arbitrary fixing direction.
These GyroM5's unique features are realized by utilizing the capabilities of M5StickC, and are never seen in commercial products.
処理
起動時に6軸IMUを用いて鉛直上方を検出
走行中のヨーレート(角速度の鉛直成分)を計測
RC受信機のCH1信号をヨーレート目標と解釈
計測を目標に近づける操舵角をPID制御で計算
ステアリング用サーボへ操舵角を指示
上記2へ(制御周波数は50Hz〜400Hzで可変)
Process
Detect vertical direction using 6DoF-IMU at startup.
Sample the measured yaw rate (vertical component of angular velocity) while driving.
Sample the CH1 RC signal and take it as the target yaw rate.
Compute the steering angle by PID for reducing difference between the target and the measured.
Command the steering angle to the steering servo motor.
Go to the above 2 (control frequency is a variable from 50Hz to 400Hz).
The author bought a small RC car kit (Tamiya SU-01) for indoor playing under COVID-19. After purchasing, I watched the RC car YouTube channel and became interested in "RC drift car" that did not exist in my childhood.
I believed that any RC car can perform "stable drifting" by high speed control, so I tried to stabilize drifting of my small RC car by my small M5StickC. I enjoyed making GyroM5, and I think this may be a good material to learn programming and control algorithm while playing RC car. I have open-sourced the code of GyroM5 on GitHub.
Let's enjoy M5StickC with your RC car!
メンバー
シンヨコ @hshin
関連イベント
M5Stack Japan Creativity Contest 20212021-07-15 開催