Domo Arigato mruby Roboto
summary
Builds two working inverted-pendulum robots and shows what actually changed to make Ruby viable: an EV3 version running mruby-ev3rt on TOPPERS/ev3rt with a microsecond real-time balance task, and a Raspberry Pi A+ DIY using an L3GD20 gyro, Tamiya DC motors with gearbox, an ST Micro motor driver and hardware PWM. Control law reduces torque to a weighted sum of angular velocity angle velocity and integrated terms because no wheel encoders exist; demos struggle with bad sensors and batteries but ultimately balance.
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chapters (38)
- 0:00Start
- 4:03ET Robot Contest
- 4:57EV3way: Software
- 8:42TOPPERS Kernel Roadmap
- 9:39TOPPERS EV3RT
- 10:45mruby in server-side
- 11:15mruby for CLI
- 11:49Inverted Pendulum
- 12:58How Robot Works
- 13:20What's RTOS
- 13:55Priority of tasks
- 14:20RTOS Tasks
- 14:38All tasks are mruby
- 15:06watch.rb
- 15:23Time is Resource
- 15:56RTOS "Alarms"
- 16:19Sleep and Wake-up
- 16:41Classes in mruby-ev3rt
- 16:52PART 2
- 17:13DIY Self-balancing Robot
- 17:43Collecting Parts
- 17:55Raspberry Pi A+
- 18:38ARM Family
- 19:23How to measure an angle
- 20:45Measuring the Angle
- 21:08How to rotate wheels
- 24:17connect a sensor
- 25:08Serial Peripheral Interface (SPI)
- 25:33Demo
- 27:37connect motors
- 28:25Motor Driver
- 29:56Motor Test
- 30:21JTAG
- 30:50Pinout
- 31:38Angular Velocity
- 31:50Balancing Equation
- 32:52Balancer class class Balancer
- 33:05main loop
