Balancing DANY BOT

Hi guys, Today I am working on programming the dany bot to balance itself. for the i have to remove the front shield and the sensor array from the zumo chassis. so that i can balance the robot in front.

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since i have attached the display, so the center of gravity to 23.8 degree. It was calculated with the help of integrated gyro on the zumo shield.

I used the PID algorithm for the better feedback and control, still it requires tuning of the PID and other constants. it has high oscillation and error, testing is going on to improve the stability

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Soon i will upload the video with better control and high stable.

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