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This time I will show you how to make a simple One axis self balancing device, which is based on the PID control system. A PID controller continuously calculates an error value as the difference between a desired setpoint and a measured process variable and applies a correction based on proportional, integral, and derivative terms.
In our case, the MPU6050 sensor collects data of the position (more precisely the angle) of the device, and sends that data to the microcontroller which performs calculations based on previously given algorithms and constants, and sends the result to the electric motor, which with its movement tends to hold the device in the desired position.
Depending on the placement and weight of the batteries and the characteristics of the sensor itself, during the first activation the device will probably not be completely stable and will swing left and right. To stabilize, it is necessary to experiment with the values of floatX1, floatX2, and floatX3 in the code. If it is well tuned even if we try to mechanically shift it to an unbalanced state, it returns automaticly to a state of equilibrium.

Detailed instructions, schematic, code, and 3D files at:
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If you are interested in this area, look at the Playlist with all my Arduino Robots at:
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by mircemk
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