Controls & Embedded Systems

Self-Balancing Robot

A two-wheeled inverted pendulum on an Arduino Uno. The MPU-6050's onboard DMP handles sensor fusion, feeding stable pitch angles into a PID controller that drives two geared DC motors through an L298N at 100Hz — keeping the robot upright in real time.

GitHub

Demo

Hardware

Component	Part	Details
Microcontroller	Arduino Uno	ATmega328P, 5V
IMU	MPU-6050	6-axis accel/gyro, I2C, onboard DMP
Motor Driver	L298N	Dual H-bridge, up to 12V motor supply
Motors (×2)	JGA25-370	Geared DC, 1:34 ratio, 126 RPM @ 12V, 73mm wheel
Motor Supply	9V	Applied to motors via L298N

PID Tuning — Final Values

Main balance force — responds to current tilt

Corrects steady-state lean and slow drift

0.5

Damps oscillation and motor judder

Sample rate: 10ms (100Hz) · Trim angle: 2.85° · Output limits: −255 to +255 PWM

Diagrams

Click any image to view full size

Sketch Versions

Sketch	Description
`RobotTest.ino`	IMU validation — raw MPU-9250 output, verifies wiring before PID integration
`TWRbalance-1.ino`	First balance attempt. L293D pinout, kP=150/kI=400/kD=5, trimAngle=−4.3°
`TWRbalanceOURS.ino`	Adapted to L298N pinout, gains reduced, trimAngle=3.125°
`TWRbalanceOURS_v2.ino`	Final version — adds timed moveForward/standStill state machine, kP=30/kD=0.5