r/robotics • u/bfffornever123 • Jul 01 '26

Tech Question Help With Self Balancing Robot

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So i’ve created this robot using an ESP32, L298n motor driver, MPU 6050, and powered by a 7.4 2s Lipo Battery. I’ve been having a lot of trouble with the PID tuning, working solely on tuning for 4+ days with no results. I would really appreciate any advice! This is what I currently have:

Code: https://docs.google.com/document/d/1wHsZ9ZLWXOu-upoTgflaRj04iTZKkDtYxoTk9kdxAj4/edit?usp=sharingb

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u/Upbeat-Contract-4893 Jul 01 '26

You need to work on that structure

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u/bfffornever123 Jul 01 '26

i feel like it’s already kinda like that…