Expand balance/hardware.md with linkage, wiring, and control-loop details - #6
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makingmusic wants to merge 1 commit into
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Expand balance/hardware.md with linkage, wiring, and control-loop details#6makingmusic wants to merge 1 commit into
makingmusic wants to merge 1 commit into
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…trol-loop details Adds discussion-driven sections to the build guide: - Pi vs ESP32 trade-offs, going with Pi + pigpio - VL53L0X (vs HC-SR04) wiring and I2C setup - SG90 PWM math (angle to microseconds) - Mechanical linkage architecture (drawbridge model) so the SG90 drives a foot-long beam without side-loading its plastic gears - Loop rate vs actuator lag (why fast ticks are fine) - Rate limiter and EMA low-pass filter - Limit cycling at balance and how to suppress it Also adds four SVG diagrams under balance/img/: - linkage-overview.svg: side view of beam + pivot + servo + push-rod - linkage-motion.svg: two tilted states showing horn rotation -> tilt - wiring.svg: Pi pinout to VL53L0X and SG90 - control-loop.svg: sensor -> PID -> servo -> plant block diagram
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Summary
balance/hardware.md: VL53L0X choice, Raspberry Pi +pigpioover ESP32, full wiring, the angle→PWM math, a complete control-loop script, why loop rate < actuator response is intentional, rate-limiter and EMA low-pass filter recipes, limit cycling at balance and how to suppress it, and the mechanical linkage architecture that lets an SG90 drive a foot-long beam without side-loading its plastic gears.balance/img/:linkage-overview.svg(side view of beam, pivot, servo, push-rod),linkage-motion.svg(two tilted states showing horn rotation → tilt),wiring.svg(Pi pinout → VL53L0X + SG90, color-coded by wire purpose),control-loop.svg(sensor → PID → servo → plant block diagram).Test plan
balance/hardware.mdon GitHub and confirm all four SVGs display inline.Generated by Claude Code