https://github.com/inhald/self_balancing_robot

Self-Balancing Robot using Multithreaded PID-Control.
https://github.com/inhald/self_balancing_robot

mbed-os multithreading pid-control self-balancing-robot

Last synced: 7 months ago
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Self-Balancing Robot using Multithreaded PID-Control.

• Host: GitHub
• URL: https://github.com/inhald/self_balancing_robot
• Owner: inhald
• License: mit
• Created: 2024-09-27T02:59:28.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2025-05-10T22:12:48.000Z (8 months ago)
• Last Synced: 2025-06-06T01:26:25.752Z (7 months ago)
• Topics: mbed-os, multithreading, pid-control, self-balancing-robot
• Language: C++
• Homepage:
• Size: 2.59 MB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# Self-Balancing Robot

A real-time self-balancing two-wheeled robot powered by an STM32 microcontroller. The robot actively corrects its tilt using feedback from inertial sensors and a cascaded PID controller, restoring its upright posture within milliseconds of disturbance.



  



## Hardware Overview

- **Microcontroller:** STM32 DISCO Board  

- **Sensors:**  

  - On-board IMU (gyroscope + accelerometer)  

  - External ADXL345 accelerometer (for redundancy/testing)  

- **Actuators:**  

  - Two DC motors (differential drive)  

- **Motor Drivers:** H-Bridge motor driver (not shown in schematic)

## Control System

The robot uses a **cascaded PID controller** implemented in C++ with Mbed RTOS:

1. **Angle Estimation:**  

   Sensor fusion combines gyroscope and accelerometer data to compute pitch angle via complementary filtering.

2. **Inner Loop:**  

   A fast-acting PID controller adjusts motor torque to correct tilt angle in real time.

   

## Performance

- Stabilizes from ±15° tilt in < 100 ms  

- Maintains balance on flat and mildly uneven surfaces  

- Real-time operation under Mbed RTOS on bare-metal STM32