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The goal is to create an PID controller for an inverted pendulum built out of and salvaged Inkjet printer
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README.md Update README.md Nov 25, 2016

README.md

Inverted-Pendulum-PID-control

The goal is to create an PID controller for an inverted pendulum built out of a salvaged Inkjet printer.

It´s using linear and rotational quadrature encoders found in the printer to determine the linear position of the cart and the angle of the pendulum. Its also using a salavaged photointerrupter as a limit switch. The motor is driven by an L298N Motordriver by an external power supply.

A video of the system in action along with further explanations and questions can be found here: https://www.youtube.com/watch?v=yyIvA0gJgm8

https://www.youtube.com/watch?v=_kBZzQOslTc //Updated Version

This Project is using the PID-Library by Brett Beauregard


  • Arduino PID Library - Version 1.1.1
  • by Brett Beauregard br3ttb@gmail.com brettbeauregard.com
  • This Library is licensed under a GPLv3 License

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