Selfbalancing robot (Arduino)

[sebnil]

In the video you can see that the robot stays at roughly the same spot on the floor and handles a lighter push without any problem. To achieve this I have two cascade PID controllers and low pass filter on both wheel speed and the robot's angle.

Source code, component list and more info

[Update 2012-07-27]

I programmed a simple moving average filter. This will remove the rapid changes and make the robot calmer and with less overshoots. It also handles pushes much better than before. Video here.

• Actuators / output devices: geared motors
• Control method: PID
• CPU: arduino leonardo
• Operating system: Arduino
• Power source: NiMH 12V 1600mAH
• Programming language: Arduino
• Sensors / input devices: motor encoders, IMU sensor

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This is a companion discussion topic for the original entry at https://community.robotshop.com/robots/show/selfbalancing-robot-arduino

[nilsb]

Good Starting-Point for Self-Balancing Robot

Nice work, Sebastian. The code is understandable and makes a good starting point for an equal self-balancing robot using an Arduino. Collected!

Thank you for bringing the built-in EEPROM back into my mind. Forgot about it… but is useful.

I also like this project of you. Keep up the good work.

And welcome to LMR.

[sebnil]

Thank you!

Thank you!