A two-wheel self-balancing robot, based on the ATmega2560 micro-controller, which uses a Cascaded PID control architecture. Four PID controllers are implemented to control the position, velocity, rotation (measured using Quadrature Encoders) and the tilt angle (measured using GY80 Sensor) of the robot.

Balance Bot Video Demonstration
eYRC 2016 - Balance Bot Theme Finals

Team ID: eYRC-BB#2403 | First prize winner at National Level e-Yantra Robotics Competition 2016-17 conducted by e-Yantra, CSE Department, IIT Bombay, sponsored by MHRD, Government of India

• code - The entire firmware with all the libraries
• datasheets - Contains all the datasheets and references
• images - Images of the robot and the joystick controller
• report - Documentation on the working of the robot and all the task submissions
• schematics - Hardware schematic of the robot and the joystick controller