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Selfbalancing robot in Arduino. Implemented with PID controllers, FIR filters, complementary filter.
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WheelEncodersI2C
selfbalancingrobot
selfbalancingrobot_console
LICENSE
README.md

README.md

Selfbalancing-robot

Selfbalancing robot in Arduino. Implemented with PID controllers, FIR filters, complementary filter. More info at http://sebastiannilsson.com/k/projekt/selfbalancing-robot/

Video

Selfbalancing robot video 1

Selfbalancing robot video 2

Getting started

  • selfbalancingrobot is the main code for the balancing robot.
    • You can use this without the console if you want. Just comment everything with I2C communication to the console.
  • selfbalancingrobot_console is the code for the console.
  • Uses a nokia display and some tatile buttons for on-the-fly configuration of the robot.
    • Much faster than uploading new code with different parameters.

Libraries:

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