Self Balancing Robot using Cascaded PID control
Developer @e-YAntra, IITB
Designed a robot which balances itself from an induced tilt angle by moving forward or backward
Measurement of the tilt angle using GY-80 module by combining readings of accelerometer and gyroscrope using a complimentary filter, Data
visualization in Scilab using Xcos
Employed a cascaded PID loop of position and angle to keep the robot in upright position
This project was later converted to one of the theme/Problem statement in e-YRC'16 named Balance Bot
- Differential drive robot
- Cascaded PID
- Wireless control using Xbee
- Tuning using Xcos in Scilab
