IMU stabilised stepper platform

Firmware flow

How angular error becomes a motor-speed request

Complete selected stabilisation routine.

Read the current angle, subtract it from the target, scale the error using the step settings and pass that value to the stepper speed function.

The computed value is passed to a speed setter, not to a position-move command. The excerpt does not establish closed-loop stability, tuning or a tested accuracy.

void stabilizeMotor() {
  float currentAngle = getMPUAngle();
  float angleError = mpuTargetAngle - currentAngle;
  float stepsToMove = angleError * (stepsPerRevolution * microstepSetting / 360.0); // Map angle to steps
  stepper.setSpeed(stepsToMove);
  stepper.runSpeed();
}