Wheels rotates in different direction (Bluetooth Self Balancing Robot)

Projects Programming
16

Ehm ... I found it!

Here ...

void new_pid() {
  //Compute error
  pid.Compute();
  rot.Compute();
  // Convert PID output to motor control
  MotorAspeed = compensate_slack(youtput, output, 1);
  MotorBspeed = compensate_slack(youtput, output, 0);
  motorspeed(MotorAspeed, MotorBspeed);            //change speed

I change MotorBspeed = compensate_slack(youtput, output, 0); which has value "0" into 1 and it shows WOW - my jimmy stop going crazy anymore :slight_smile: