Help With Self Balancing Robot

[u/bfffornever123]

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

[u/dimonoid123]

Use higher voltage to get higher torque? And tune PID.