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Robotics
Self-balancing robot
A two-wheeled balancer built to learn control theory properly
Built with
- esp32
- rust
- embedded-hal
- kicad
Placeholder content — replace before launch.
What it’s for
Balancing is the smallest problem that forces you to understand a control loop end to end: sensing, filtering, actuation, and the lag between them.
Constraints
- Cheap parts, because it will fall over a lot.
- No pre-built controller library — the point is to write the loop.
Devlog
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Retuned, and it stays up for eleven seconds
Holding the last good reading fixed the oscillation. Now the failure mode is different.
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The IMU was the problem, not the tuning
Four rewrites of the PID gains, and the actual fault was a sample rate mismatch.