Segway clone

clone
https://github.com/ovaltineo/SegwayClone

https://github.com/Lauszus/BalancingRobotFullSize preferred fork  http://blog.tkjelectronics.dk/2014/07/full-size-diy-balancing-robot/ Brass sleeve fitted over metal rod, allowing snug fit with with radial bearing. https://github.com/ovaltineo/SegwayClone see

A MPU-6050 3-axis accelerometer and gyroscope. The accelerometer and gyroscope readings are combined using a Kalman filter library. See my blog post: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/ and source https://github.com/TKJElectronics/KalmanFilter for more information. USB Host support is implemented using the MAX3421E and the USB Host library: https://github.com/felis/USB_Host_Shield_2.0. Two VNH5180 motor controller ICs is used to drive the two motors. More information can be found at the Wiki article: http://wiki.balanduino.net/Overview.
 * http://balanduino.com/
 * https://github.com/TKJElectronics/BalancingRobotArduino, https://developer.mbed.org/users/Lauszus/code/BalancingRobotPS3/
 * https://github.com/TKJElectronics/Balanduino the Balanduino hardware consist of an ATmega1284P running at 10MHz.

tkj
https://github.com/TKJElectronics/KalmanFilter/blob/master/Kalman.cpp https://github.com/TKJElectronics/KalmanFilter/blob/master/examples/MPU6050/MPU6050.ino

links
Robotics and drones

PID control, inverted pendulum.

Math inverted pendulum, Kalman tracking