BUILDING a Self-Balancing Robot | PART 3 - Remote & Code!

This is the third video of a series of independent projects I'm going to be doing over the course of the summer.
Here, I explain the remote and control theory for the self-balancing robot. The premise is to use an inertial measurement unit to read the angle with respect to the vertical the robot makes, and use a control loop to set the velocity of the wheel based on the angle.
If you'd like to learn more about properly controlling the inverted pendulum on a cart dynamic system, watch Steve Brunton's lecture series here:
https://www.youtube.com/watch?v=qjhAA...

Watch Parts 1 & 2 HERE:
https://www.youtube.com/watch?v=M7D-T...
   • BUILDING a Self-Balancing Robot | PAR...  
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See the plant for the Simulink Model:
http://ctms.engin.umich.edu/CTMS/inde...
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I'm going to be sharing all CAD and code for this project and more on my github: https://github.com/nzipin
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DOWNLOAD LIBRARIES:
MPU6050: https://maker.pro/files/MPU6050.zip
NRF24L01: https://github.com/tmrh20/RF24/
PID: https://github.com/br3ttb/Arduino-PID...
L298N: https://github.com/AndreaLombardo/L298N