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Self-Balancing Dancing Segway Bot
This little robot balances like a Segway and dances like Elvis! Balancing was accomplished by controlling the yaw position of the robot with PID and music-following with an energy-based beat detection algorithm.
Mechanism
The robot was powered by a rather large 12V drone battery stuck underneath the computer. All programming were done on an empty pyboard in micropython.
A PID controller was programmed using the IMU input, as well as a quick Kp/Ki/Kd and zero point adjusting program that utilizes a potentiometer knob and the LED display.
Enjoy xD
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