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portfo · studio

Self-Balancing Robot on an STM32

Publish

Text

Self-Balancing Robot on an STM32

Text

A 1 kHz PID loop keeps it upright to within ±0.4°.

Code

// balance.c
float pid_update(PID *c, float target, float angle, float dt) {
  float error = target - angle;
  c->integral += error * dt;
  float deriv = (error - c->prev) / dt;
  c->prev = error;

  float output = c->kp * error
               + c->ki * c->integral
               + c->kd * deriv;
  
}

Text

The problem

Text

A two-wheeled robot has one trick: fall, catch itself, repeat, a thousand times a second. The MPU-6050 gives a noisy tilt estimate, so a complementary filter blends the accelerometer and gyro before anything downstream trusts the angle. A PID loop on the STM32 turns that angle into a motor command every millisecond. Most of the work was tuning: too much gain and it oscillates itself off the desk, too little and it folds over. I logged every run over UART and tuned against the traces, not by feel. The numbers below are from bench runs after the final tuning pass.

Image

The STM32 control board that runs the balance loop

Text

Before and after tuning

Table

Metric	Before	After
Settling time	2.4 s	0.6 s
Overshoot	18°	3°
Steady-state error	±2.1°	±0.4°
Loop rate	500 Hz	1 kHz

Text

Settling time before and after tuning, by trial

Code

Link

View the firmware

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the-usual-profile.com

credentials first

Alex D. · 3rd

Results-driven electrical engineer | 10+ yrs in power & embedded systems | Passionate about circuits & innovation

500+ connections

ConnectMessage

bullet points ≠ proof

Experience

• Led cross-functional initiatives to drive impact

• Leveraged best practices across key verticals

Skills

Circuit DesignPCB LayoutEmbedded Systems

the actual work

portfolio_final_v2.pdf · updated 2019

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Public view

portfo · public view

Public view

Self-Balancing Robot on an STM32

A 1 kHz PID loop keeps it upright to within ±0.4°.

The problem

A two-wheeled robot has one trick: fall, catch itself, repeat, a thousand times a second. The MPU-6050 gives a noisy tilt estimate, so a complementary filter blends the accelerometer and gyro before anything downstream trusts the angle. A PID loop on the STM32 turns that angle into a motor command every millisecond. Most of the work was tuning: too much gain and it oscillates itself off the desk, too little and it folds over. I logged every run over UART and tuned against the traces, not by feel. The numbers below are from bench runs after the final tuning pass.

Before and after tuning

Metric	Before	After
Settling time	2.4 s	0.6 s
Overshoot	18°	3°
Steady-state error	±2.1°	±0.4°
Loop rate	500 Hz	1 kHz

Settling time before and after tuning, by trial

View the firmware

Discover

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Elevations, sections, and floor plans for a six-dwelling infill.

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