Two-Legged Self-Balancing System

 

 

 

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Tilt Sensor

 

The tilt sensor chosen is a CXTA01 by Crossbow Technology Inc. It has a fully conditioned, absolute analog output voltage that ranges between 0 and 5V corresponding to a 1-D (single axis) tilt angle, with 2.5V corresponding to an angle of 0°.

The tilt sensor output voltage goes to an A/D converter in the PIC microcontroller and its 8-bit result is sent to the host computer. The angle is calculated by MatLAB and is an input to the fuzzy logic controller.

 

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