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Step 11: Future Development & References

There are a few things which we would like to have done differently, or would encourage to explore further.

These are:

  1. Integrate the power supply into the chassis of the robot as a battery, so that it no longer needs to be tethered and can roam freely.
  2. Spend more time tuning the PID constants, this time with a graphing tool in order to have a more informed tuning approach.
  3. Develop a method to manually control the robot with a wireless controlle.
  4. Replace the BNO055 with a MPU6050 in order to leverage the higher sample rate.

Also, we would like to recommend a few other resources which were very helpful in the development of this project:

  1. Developing PID algorithms:

  2. Visually tuning PID controllers:
  3. IMU Information:

And some image references:

Theory Section:
Zhang, J., 2016. Design of a two-wheeled self-balance personal transportation robot. 2016 IEEE 11th Conference on Industrial Electronics and Applications (ICIEA), [Online]. 11, N/A. Available at: [Accessed 5 May 2019].