Self Balancing robot using the Cypress PSoC4.
Usefuleness of this repo:
- C functions to interface to MPU9150 via I2C (MPU9150.h, MPU9150.c)
- Replace I2C functions with your application specific functions, because this is dependent on the PSoC4 libraries.
- main.c: Contains C code for implementing:
- Complementary filter algorithm for combining gyro and accelerometer data to form estimated roll/pitch
- PID algorithm