this 20 second video clip shows my trouble: http://www.youtube.com/watch?v=i8OcaKLEK14 My segway code uses an IMU (the MPU-6050) and comes up with the angle of the platform. It then just maps the angle from about plus or minus 20 degrees to plus or minus 0-100 percent motor speed. It works well wit…

Adding PID to my Segway

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