The following project shows a way to create a self-balancing robot by using some simple steps and basic components. Read on to know more on this.

The project uses three microcontrollers that would be assigned different tasks. The microcontrollers are:
Arduino Uno
This is used to record the pulses from the tachometer that have placed on each wheel and convert these pulses to speed.
Arduino Uno
This Arduino Uno microcontroller has been used to view and adjust the parameters and to control the display.

Arduino Leonardo
It may be considered as the brain of the project as it is used to receive the information from the console and the speed sensor through the I2C.

Two PIDs have been used in the project. One has the speed as the set point and angle as output. In case the robot is moving in forward direction, the controller sends out the negative signal which will cause the robot to lean in the backward direction.

The second PID is used for making the robot’s angle with respect to the floor and to make sure that it won’t fall down on the floor. The set-point of this PID is the output of the previous PID controller.