Hi Kas,
compliments for your great job and info.
I have terminated a self balancing robot very similar to your (same IMU), except for motors.
I used 6V HITEC HS-325HB hacked to run continuosly, but this motors are not enough for he job they have to do.
I tried to make the robot less high but it became too instable..
anyway I order the same Your Pololu equipment...waiting for shipment.
Two questions:
(1) in the setup, with the function calibrateSensors(); you have to put the robot (each time you switch it on) exactly in the static equilibrium position in order to evaluate zero values (exept for z).
is this a little bit boring and could produce errors (if it is not perfectly perpendicular)?
If during the calibrateSensors() i'll give a tilt, the Robot will work to keep the tilt!
maybe there is something that I cannot understand?
(2) what do You use to recharge the 12V batteries?
thanks,
bye,
Prof