Abstract
Self balancing robot is developed from automatic control technology and dynamics technology, which can sense the external environment and make decisions. It has a wide application prospect. This paper designs a two wheeled self balancing robot based on esp32. The robot collects inertia data through mpu9250 and motor data through Hall encoder. PID algorithm is used to control motor to realize robot balance. At the same time, the upper computer software is designed, which can change the PID parameters of the robot in real time, obtain the pitch angle and velocity of the robot in real time, and control the motion state of the robot.
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