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Uncon Talk: Self Balancing Robot - finally...

It’s been almost 4 years since I started playing with self balancing robots and after 3 other versions, here it is, finally one that works..

danDan
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Pretty standard self balancing robot, controlled by an ESP32, using a MPU6050 for gyros & accelerometres and Nema 17 stepper motors.
What's not standard is the long path and many previous versions that I had to do, before finally getting to one that actually works... :)
You can find more details and movies here: https://trandi.wordpress.com/2017/09/19/self-balancing-robot-v4/

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