The objective of the firmware presented in this article is to provide an example which would implement the following functionality:

I was dissatisfied with robot’s performance, so I experimented a lot with various aspects to improve it. But along the way, the robot, however simple in concept, proved to be a pretty complex system which depends on many factors that I didn’t anticipate. This variety of factors which altogether influence its movements make it very difficult to troubleshoot problems. So, now I’ll try to recall my adventures with it in order. Oh, and my objective (best case scenario) is to make it stable to the point it stands completely still. This is what I found the most difficult.

I have built a self-balancing robot, and here I want to post some notes regarding problems that I encountered. It was (as usual) more difficult than I anticipated, but I guess every hacker know this feeling.

I’m making this post because I struggled with this functionality a lot! I was implementing it (to the extent I was happy with) in the course of 4 or even 5 days! Ok, first goes an animated gif which shows my desired zoom behavior (check out Inkscape, or other graphics programs, they all work the same in this regard):

This post is outdated!! . Please see http://www.iwasz.pl/electronics/stm32-on-ubuntu-linux-step-by-step/ for more up to date instructions.