Pressing play loads the video from YouTube. Privacy Policy
Brushed motors, an ESP32 and an MPU-6500 — and three control loops, each one fixing what the one before couldn’t. The angle loop (PID, 500 times a second) keeps it upright, but it rolls 27 cm away. The speed loop brings it back to a 30 cm band. The position loop brings it home within 3 cm — then it drives over Wi-Fi and jumps off a bathroom scale. Three loops, one LQR, or a neural net — which would you bet on?
Ten days, one robot, three control loops. How our ESP32 balancing robot on brushed motors learned to stand, to come back after a push, to hold its spot and to drive over Wi-Fi, with the numbers from its logs and the firmware that made it work.
