PID Self-Balancing Robot

A 3D-printed self-balancing robot powered by an ESP32 and controlled using a PID algorithm. The robot uses an MPU IMU to measure its angle and continuously adjusts the motors to keep itself balanced. Any print settings will work - use default in slicer

Parts Required

Electronics

• ESP32 Development Board

• L298N Motor Driver (or the motor driver included in this project)

• 2S LiPo Battery (or any compatible 2-cell battery)

• MPU-6500 IMU (MPU-6050, MPU-9250, and similar modules should also work)

• 2 DC Gear Motors

• Jumper wires

• Power switch (optional)

3D Printed Parts

Print:

• 2× Side Panels

• 2× Motor Brackets

• 1× of every other printed part included in the files

Features

• PID-controlled self-balancing

• Fully 3D-printed chassis

• ESP32-based controller

• Compatible with multiple MPU IMU modules

• Easy to modify and upgrade