This code is for the control of the SCRAM (Soaring and Climbing Rainforest Robot for Aerial Monitoring) robotic flying squirrel.
Tail_control.ino uses PID control to adjust the angle of the robot's tail (as controlled by a servomotor) in response to the glider's pitch (measured using an IMU).
Motor_control.ino rotates the DC motor to move the robot's legs.
Two libraries are necessary for the code to function, servo.h from Marko Margolis and MPU9250.h from Brian Taylor of BolderFlight.
No additional libraries are necessary.
The code has been designed to run from a Teensy 3.2 microcontroller, so require some adjustments before it can run from other microcontrollers. The necessary components for the robot and how to connect them together are detailed below:
