How I made this Self-Balancing Robot

This is the final video of a series of independent projects I'm going to be doing over the course of the summer. Here, I showcase the self-balancing robot and talk about how it works. The premise is to use an inertial measurement unit to read the angle with respect to the vertical the robot makes, and use a control loop to set the velocity of the wheel based on the angle. If you'd like to learn more about properly controlling the inverted pendulum on a cart dynamic system, watch Steve Brunton's lecture series here: https://www.youtube.com/watch?v=qjhAA... Watch the rest of the series here (Playlist): https://www.youtube.com/watch?v=M7D-TyRbdDE&list=PLmEi2OoxXIQ88akwk1nRoXV6LqhXQp3kH ********************************************* I'm going to be sharing all CAD and code for this project and more on my github: https://github.com/nzipin ********************************************* See the plant for the Simulink Model: http://ctms.engin.umich.edu/CTMS/inde... ********************************************* If you'd like to learn more about properly controlling the inverted pendulum on a cart dynamic system, watch Steve Brunton's lecture series here: https://www.youtube.com/watch?v=qjhAA... ********************************************* DOWNLOAD LIBRARIES: MPU6050: https://maker.pro/files/MPU6050.zip NRF24L01: https://github.com/tmrh20/RF24/ PID: https://github.com/br3ttb/Arduino-PID... L298N: https://github.com/AndreaLombardo/L298N