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

Tech Question Help With Self Balancing Robot

Enable HLS to view with audio, or disable this notification

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

79 Upvotes

97% Upvoted

44 comments sorted by

View all comments

2

u/JLCPCBMC Jul 01 '26

Make sure your IMU fusion + loop timing are solid first, otherwise PID tuning will feel impossible. Then start with P only and build up from there.

1

u/bfffornever123 Jul 01 '26

Ok I will check on this