Car self-stabilization mode

1. Experimental purpose

Drive the car in self-stabilization mode

2. Experimental path source code

Enter the car system, end the car program, enter "ip (ip is the car's ip): 8888" in the browser, enter the password "yahboom" Then log in Enter the path of Rider-pi_class/3.Base Motion/5. Self stabilizing mode of the car and run car_selfstab.ipynb.

3. Experimental phenomenon

After running the code, drag the slider to select the state of the car being self-stabilized or not. The car cannot be in a stopped state (i.e. not in a standing balance state), otherwise it cannot move. Self-stabilizing state:

4. Analysis of main source code parameters

​x
def set_balance(value):
g_car.rider_balance_roll(value)
​
#Create a slider to enable self-stabilization and non-self-stabilization
interact(set_balance, \
value=widgets.IntSlider(min=0,max=1,step=1,value=0));

rider_balance_roll: This function turns on the car's self-stabilizing mode, 1: start, 0: stop.