An (almost) balancing robot

A little video of our own attempt to make a balancing robot - we didn't have a gyro so we used a pair of IR range-finders, each pointing at the floor, and used them to work out the angle of the robot.

We also added a bunch of potentiometers on the top to make it easy to manually tune up the proportional and derivative gains, and adjust the balance set point.

My PID (which still lacks the I component at the moment) still needs some work.

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