I finally got my robot complete. It seems to work ok…. it seems to try to balance for a bit then tilts one ways and takes off trying to catch itself before falling. It’s not finding a happy stable point, but will balance by going back and forth roughly. I need some help on how to tune it so it is nice and smooth. My platform is horizontal so I set the tiltOffset variable to 0. This gives it a decent start, but its not smooth and won’t stay up for more than 5 – 8 seconds. What else can I do to tune the system???
That’s great! Sounds like you’re pretty close. Can you post a video and some photos showing the components? Did you use all the same parts? To greatly simplify the balancing you can increase the height of the center of mass by moving heavy components like the battery as high as possible.