Developed for a balancing robot project in a Mechatronics couse at UPenn (MEAM 510).
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libs
Makefile
README
balance_bot.c

README

 ____            ___                                       ____           __      
/\  _`\         /\_ \                                     /\  _`\        /\ \__   
\ \ \L\ \    __ \//\ \      __      ___     ___     __    \ \ \L\ \   ___\ \ ,_\  
 \ \  _ <' /'__`\ \ \ \   /'__`\  /' _ `\  /'___\ /'__`\   \ \  _ <' / __`\ \ \/  
  \ \ \L\ \\ \L\.\_\_\ \_/\ \L\.\_/\ \/\ \/\ \__//\  __/    \ \ \L\ \\ \L\ \ \ \_ 
   \ \____/ \__/.\_\\____\ \__/.\_\ \_\ \_\ \____\ \____\    \ \____/ \____/\ \__\
    \/___/ \/__/\/_//____/\/__/\/_/\/_/\/_/\/____/\/____/     \/___/ \/___/  \/__/

by Nick McGill, Lucas Hartman, & Christine Kappeyne
~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~+~

Built for a graduate-level mechatronics course at UPenn (MEAM 510), this robot uses 6DOF data (3d gyro + 3d accelerometer) in a PID control loop running on a 16 MHz processor to send updated position commands to the two motors.

"libs" contains all of the libraries necessary for compiling this C code.  For using the Makefile on Mac: http://medesign.seas.upenn.edu/index.php/Guides/MaEvArM-starting-mac