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Firmware • Control
Self-Balancing Robot
CAD + 3D printed mechanical design combined with digital PID control in C++ for balance and disturbance rejection.
Highlights
- Arduino + MPU6050 (IMU), H-bridge motor drive, buck converter power stage.
- Digital PID control loop implemented in C++ with iterative tuning.
- Key challenge: reliable orientation estimate (sensor fusion + noise handling).
Gallery
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