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processing.app.SerialException: Error opening serial port 'COM9'.
    at processing.app.Serial.<init>(Serial.java:125)
    at processing.app.Serial.<init>(Serial.java:66)
    at processing.app.SerialMonitor$3.<init>(SerialMonitor.java:93)
    at processing.app.SerialMonitor.open(SerialMonitor.java:93)
    at processing.app.AbstractMonitor.resume(AbstractMonitor.java:110)
    at processing.app.Editor.resumeOrCloseSerialMonitor(Editor.java:2479)
    at processing.app.Editor.access$3100(Editor.java:85)
    at processing.app.Editor$DefaultExportHandler.run(Editor.java:2457)
    at java.lang.Thread.run(Thread.java:745)
Caused by: jssc.SerialPortException: Port name - COM9; Method name - openPort(); Exception type - Port not found.
    at jssc.SerialPort.openPort(SerialPort.java:167)
    at processing.app.Serial.<init>(Serial.java:114)
    ... 8 more
Error opening serial port 'COM9'.

Starting download script...
Flashing is taking longer than expected
Try pressing MASTER_RESET button

ERROR: Device is not responding.
Device is not responding, check the right serial port is selected or RESET the board right before exporting

Starting download script...
SUCCESS: Sketch will execute in about 5 seconds.
Error opening serial port 'COM9'. (Port not found)

Error opening serial port 'COM9'. (Port not found)

已经砸了

睡觉

IMU data Offsets:

ax -1189.076416, ay -259.313019, az -546.771606

gx -63.789001, gy 41.617252, gz 6.309500

IMU data Offsets:

ax -1206.609253, ay -245.248672, az -545.147827

gx -62.229664, gy 40.237835, gz 5.435333

重新写了个程序计算偏差，尽管是计算了数千次，但是依旧小幅波动
两次计算结果如上

以后就用这组数据啦，不在这上耗费时间啦

#define ax_offset -1200
#define ay_offset -252
#define az_offset -546

#define gx_offset -63
#define gy_offset 40.92
#define gz_offset 5.87

给左右电机相同的pwm，然后显示计数
可见左右两个电机在相同pwm下，转速差异接近1倍

这导致直接用角度来做平衡控制时，小车有旋转的倾向

研究研究咋解决呢

貌似刚拿来的时候转速挺稳定呢，哎

另外，大神说陀螺仪和加速度计的位置要放低

这样可以避免偏差

但是调整起来太费劲，而且那样我亚力克板上钻的孔就白弄了，555
也许把101换掉，把L298N换掉
这样会省一层，但是初衷是要用101的啊

哎，各种纠结，先这样吧

从哪跌倒，就在哪趴着