2ArmPid

This project was aimed to test and deploy PID control Law on a Two Arm PID Balance. The goal of this project was to level a wooden rod with the help of BLDC motors and propellors. This was done to simulate the roll and pitch stability of a Quadcopter. The angle wrt to the horizontal was found out using MPU 9250 by fusing both gyroscope and accelerometer values by using a complimentry filter.

Result

The Video of the working model is linked here

References

https://github.com/sparkfun/SparkFun_MPU-9250-DMP_Arduino_Library

Refer this for imu interfacing.