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Balancing on Two Wheels
Balancing on Two Wheels
Built by a team of 3 for Mechatronics and Robotics I, the self-balancing robot can maintain an upright pose with the assistance of an IMU and a PID controller.
Initial Attempt
Initial Attempt
Raw accelerometer data was insufficient to act as feedback for the PID controller
Final Attempt
Final Attempt
Filtering the accelerometer and gyroscope data with a complimentary filter allowed a smooth balance to be achieved.
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