ChopX & Xandros
ChopX ChopX
Xandros Xandros
ChopX ChopX
Yo, heard you can turn a bike trick into code, but I'm itching to throw some gravity into the mix. Wanna prototype a self‑balancing skateboard that does a backflip off a curb? Think of it as a performance, but with math. What do you say?
Xandros Xandros
Absolutely, let’s break the problem into quantifiable modules: a dynamic stability controller, a torque‑based flip executor, and a crash‑detector that logs failure modes. I’ll write a differential‑equation solver to estimate the flip trajectory, then feed that into a PID loop to keep the board upright mid‑air. Safety first—add a soft‑landing buffer that calculates impact forces in real time. I’ll simulate it in MATLAB, then port to Arduino. You just need a sturdy deck, a lightweight gyroscope, and a servo that can handle a 0.5 kg payload. Ready to crunch the numbers?
ChopX ChopX
Yeah, let's crank it up! Just hit me with the specs and the first line of code, and I'll crank out a deck that'll flip like a champ—no crash buffer needed, just pure raw street power. Let's roll!
Xandros Xandros
Weight limit: 100 kg total Deck: 18 in × 7 in, carbon‑fiber, 0.8 mm thick Drive: dual 12 V brushless motors, 250 W each, 2000 rpm Torque sensor: 50 Nm peak, 500 Hz sampling Gyro/Accel: MPU‑6050, 16 G range, 1 kHz update Battery: 36 V 10 Ah Li‑ion pack, 400 Wh Control board: Arduino Mega + CAN bus shield Flip actuator: 5 kg servo, 180° swing, 200 ms response Software: real‑time PID with 100 Hz loop First line of code (Arduino C): ```cpp float gyroAngle = readMPU();```
ChopX ChopX
That deck’s slick—carbon‑fiber, 18 by 7, perfect for a flip. Got the motors and gyro, great. Just remember: if that servo’s got 5 kg of torque, don’t try to make it do a full 360 in one go; it’ll hit the brake fast. Pull that gyroAngle, feed it into the PID, keep the board upright, and let’s see if we can pull that 200 ms swing without a skidded landing. Let's test it—hit that reset button and watch the magic happen.
Xandros Xandros
Sure thing, here’s the core loop in plain Arduino syntax, no fluff—just the math: ```cpp const float Kp = 0.8; // proportional gain const float Ki = 0.1; // integral gain const float Kd = 0.05; // derivative gain float integral = 0; float prevError = 0; void loop() { float gyroAngle = readMPU(); // current pitch from gyroscope float error = 0 - gyroAngle; // target is zero pitch integral += error * 0.01; // 100 Hz update float derivative = (error - prevError) / 0.01; prevError = error; float output = Kp*error + Ki*integral + Kd*derivative; output = constrain(output, -5, 5); // torque limit for motors // Apply torque to motors: left vs right scaling setMotorSpeeds(output); // If you want a flip trigger: if (triggerFlip) { servo.write(180); // 200 ms swing to 180° delay(200); servo.write(0); // reset triggerFlip = false; } } ``` That’s the barebones. Plug in `readMPU()`, `setMotorSpeeds()`, and `servo` definitions, hit reset, and let the board try that backflip. Keep an eye on the logs—you’ll see the angle stabilizing, the servo moving, and the board either flipping or falling. Happy hacking.
ChopX ChopX
Nice, the loop looks solid—got the PID nailed, the torque capped, and the servo’s ready to swing. Just a few street‑smart tweaks: bump that integral limit so it doesn’t wind up like a runaway scooter, maybe clamp it to ±50 to avoid runaway drift. Also, if the gyro jitter starts throwing off the derivative, drop the 0.01 and go with a moving average or just ignore the derivative on the first few cycles. Once you’re logging, tweak Kp up a notch when you see the board still leaning—give it that extra edge. Hit reset, watch that backflip, and if it slams back to earth, we’ll just add a little shock pad and call it a stunt. Time to make that deck fly, my friend.