My Wine-Glass Carrying, Self-Balancing Inverted Pendulum Robot

This is a project I've been working on over the past couple years in my free time and at this point I'm pretty happy with my progress. I learned a lot about control theory and programming through this project and I'm looking forward to taking on even more ambitious robotics projects in the future!
If you want more information related to this project, check out my website and blog post on this project:
https://www.shaysackett.com/inverted-pendulum-robot/

Software wise, the code consists of over 500 lines of Arduino code. I have two nested PID loops running in tandem, one PID loop controls the angle of the robot, and the other controls the velocity of the robot.

I'm using an MPU-6050 for the inertial measurement unit, and a complementary filter to fuse the gyroscope and accelerometer data together.

The main code loop is run every 4 milliseconds, or 250 times a second.

The motors are 30:1 geared dc motors from Pololu with 64 CPR encoders. These encoders could be better, they create a noisy signal which limits their usefulness and accuracy.
Link to the github page for the code and source files: https://github.com/ShaySackett/Self-Balancing-Inverted-Pendulum-Robot

Видео My Wine-Glass Carrying, Self-Balancing Inverted Pendulum Robot канала Shay Sackett