Integrated Controller Run

Modified of the source code of the unicycle, for programming a STM32 microcontroller instead of an AVR. github.com/iamazadi/unicycle The code is written 98.1% in the C programming language and 1.8% in Assembly. Supports serial via Bluetooth. Controls motors and transmits sensor data. This is how the unicycle behaves after sensor fusion. The sensor data includes the accelerometer orientation and the gyroscope angular velocity. Fusing data, the angular velocity is integrated over time and added to the orientation value for accuracy. The inertial measurements update about every 0.001 second and then the controller responds almost immediately by sending Pulse Width Modulation (PWM) signals to motor drivers. But, the hall-effect sensors in the motor encoder also measures angular velocity for the controller of the reaction wheel. The state of the system depends on the angle of the robot in the plane and its angular velocity, as well as the speed of the wheel.