A segway-like balancing two-wheel robot built on ESP8266. It is controlled over WiFi via a HTML/JS GUI and a WebSocket.
This is a work in progress, but basic functionality now works.
The project takes advantage of the ESP8266 Arduino core,
PlatformIO and
some
excellent
libraries. Instead of Arduino's analogWrite,
StephanBruens's ESP8266_new_pwm is used for running the motors.
Beware! There might be some nasty bugs or erratic behavior, although some major issues in the early code (watchdog resets, incorrect PID initialization) have been resolved. Some things TODO:
- Gyro calibration
- PID tuning graphically via the browser
The project is licensed under GPLv3.