project #1

Create a program to simulate a "Two Wheel Self Balancing Robot".

Consider

1. operating parameters (built-in delays, reaction time, etc.)
   (Read a configuration from a file for a flexible simulation.)
2. how many and which operating parameters?
3. units (English/metric)
4. starting condition/position
5. to stop the robot tilting requires moving the wheel beyond the vertical in the tilt direction

Note: Nothing is instantaneous.

project #2

Add a graphics window to show each wheel's point of contact with the ground in real time. (How do they wander?)

project #3

Same as Project #1 except only one wheel. (Move in any direction.)

Links

Arduino Two Wheel Self Balancing Robot (Instructables)

Arduino-PID-Library (GitHub)

Improving the Beginner’s PID – Introduction

How to Build an Arduino Self-Balancing Robot (MakerPro)