Arduino NXT Motor PID BALANCING ROBOT (MPU6050)

IMG_20160709_175932005There are a lot of Balancing Robots out there with examples and tutorials, but they are often not easy to understand, or are based on a library. The source code is full of math and not good structured.

I’ve tried to build a simple but very stable balancer without any libraries, that you can understand easily. Components I’ve used:

  • Arduino UNO
  • Arduino Motor Shield
  • MPU 6050
  • 2 Lego NXT Mindstorms Motors
  • 11,1V Lipo Battery (3s)

 

I’ve written the whole code in less than 400 lines of code.

 

IMG_20160709_181409036   IMG_20160709_180944156   IMG_20160709_180038886 IMG_20160709_181933641   IMG_20160709_181731649

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