Writing a Kalman filter or a Complementary filter for a self-balancing robot is hard. Debugging it on hardware where the MPU6050 is physically wobbling is chaotic. In Proteus, you can feed a known, stable acceleration vector (e.g., X=0, Y=0, Z=1g ) and step through your filter code line by line.
Writing a Kalman filter or a Complementary filter for a self-balancing robot is hard. Debugging it on hardware where the MPU6050 is physically wobbling is chaotic. In Proteus, you can feed a known, stable acceleration vector (e.g., X=0, Y=0, Z=1g ) and step through your filter code line by line.