About

This is a self balancing robot made using Arduino Uno microcontroller.

Hardware Required

Hardware	Quantity
Arduino Uno	1x
Mpu-6050	1x
L298 H-bridge Motor Driver	1x
9v Batteries	2x
generic Motors	2x

Software Required

You have to install Arduino IDE to burn this program into the arduino board.

Getting Started

First clone the repository in your pc.

git clone https://github.com/himanshu12345yadav/Self-Balancing-Robot.git
cd Self-Balancing-Robot

After cloning the project you can find two files SelfbalancinRobot and mpu_calibration out of which the first file is responsible to control the robot. Flash this file in the arduino board using the Arduino Software. You can use the second file to find the balance point of the robot.

How to get PID constants

Pid constants may vary for structure to structre. To find the best values of the PID constants run the SelfbalancingRobot file and check the serial monitor and the find the PID contants by hit and trial method. The best PID value is one which make the robot to balancing easily without any gittering.

For the hardware connections use the arduinoConnections file provided in the project folder. In this i have used a bluetooth module but you can completely ignore it and do other wiring.

To understand the program, i recommend you to take a look at the register map of the mpu-6050 by clicking here

Happy hacking!