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Simple Klipper Rotary Inverted Pendulum

Created by: Ved
1 devlog
4h 16m 59s

Hello there!
I currently working on a project by myself for a school science fair project. Rather than doing anything simple, i wanted to do something related to what i like to do, while also making it cool.
As i was searching for an idea for my…

Hello there!
I currently working on a project by myself for a school science fair project. Rather than doing anything simple, i wanted to do something related to what i like to do, while also making it cool.
As i was searching for an idea for my project, i suddenly stumbled upon a inverted pendulum when scrolling, and decided i wanted to do something about that for my project.

The science fair project hypothesis has not been decided yet, but i will as soon as i finishing actually making the actual inverted pendulum.

This project uses AI

Currently i have used ai (claude, gpt, and gemini) to help me undertsand and show me how to use the klipper printer configs.
Also been using ai to help me debug things in armbian, how to flash devices with the proper firmware.

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Ved
Ved worked on Simple Klipper Rotary Inverted Pendulum
about 1 month ago
4h 16m logged

I have continued to work on the pendulum leaning a few things. And the most important thing i have learned is that if i do not cut corners some way or another, i will not be able to finish the project in time.
In pure desperation to finish the actual pendulum software wise by this Saturday, i will be using mostly ai generated code, and steering away from LQR and going towards PiD.
If i am able to finish this pendulum in time this week, and finish the writing part of science fair after testing, i will rewrite the code in its entirety.

But the most recent updates are:

  • Changed from LQR to Pid
  • Completely rebuilt the whole mechanism hardware wise (3d prints, layouts, mounts)
  • Figured out i need a diametrically magnetized magnet for the thing to work so got one and implemented it.
  • Changing from ordoidxu4 to pi5 at somewhere outside of home, and main pc when at home.
  • Getting an auto tuner implemented.
  • Got the new swing up motion to be somewhat consistent (My code)
  • Started to use a USB 3.0 4 port hubs
  • Added cable organizer to the encoder wires.
  • Added ESP32 Mount
  • Learned about stepper motor heating up way too much issue, melting 3d prints, causing me to have to re 3d print my pla prints. Will print out of abs soon.
  • Learned about esp encoder ERR issues, need to bring magnet closer.
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