Hi. I am using Arduino Nano with MPU-6050 and DC motors for my self-balancing robot. Everything went fine until I had to set the PID values. I don't know which PID values to set first. I also don't know whether to increase or decrease the values according to the balancing capabilities of the robot.
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You need to study how PID works and read some tutorials on how to set it up, there are videos Google is your friend
As a starter turn off I and D and adjust P until it is stable ( even if not up right )
The process is called "PID tuning". There are many tutorials on line.
I also don't know whether to increase or decrease the values
Most people print out the measurements, PID error and PID output values, to get a feeling for how the K values need to be adjusted. Each system is different.
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