I use an mpu6050 to get the pitch and a pid library for pid calculation. I have seen the motors that I use in other selfbalancing robots so they are powerful enough. I think there is a problem with the code because it looks like it doesn't calculate the pwm value fast enough and falls and then spin…

The AutoPid library only updates at a constant interval internally, which is 1000ms by default. Your pid may just not be running fast enough... change it with setTimeStep(unsigned long timeStep). Library docs

[image] red_blood: What is wrong with my code? The PID requires proper parameters kp, ki and kd. These values depend on your specific construction. Against slow reaction it may help to increase kd (differential factor).

I uploaded my .ino file, isn't that the code?

This post again provides a good example of my insight: Nobody reads or researches themselves anymore, others can do it much better. Why should I strain my brain? Very sad!

[image] RudolfAtRTC: Nobody reads or researches themselves anymore It's a matter of what is assumed "basic" and what is advanced. If some code is available, why should it not be used? If the Arduino IDE contains libraries for everything, why should one re-invent the wheel? What's the motivat…

[image] red_blood: I uploaded my .ino file, isn't that the code? You attached the .ino file. It is much more convenient for anyone offering help if you copy the code into a post here as described in the link I gave to enable the code to be copied for examination with a single click

Ok got it, I thought that it would be more convinient to have the file I will put the code like you said then.

How fast should it be, I read on another forum that 10 ms is a good value, is it a good value?

Yeah, 10ms is pretty fast. As others have said above, however, the tuning is also important and that can help you to get a fast response too.

Selfbalancing robot doesn't react fast enough when falling

Projects Programming

UKHeliBob August 17, 2021, 9:25am 2

To start with, it is not posted here

Please follow the advice given in the link below when posting code . Use code tags when posting code here to make it easier to read and copy for examination

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Selfbalancing robot doesn't react fast enough when falling

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