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Uploaded on Jun 23, 2011
This is an experimental "robot" that self balances on a 5 inch toy basket ball. The controller is PID built with analog Op-Amps. A Sabertooth 2x5 motor controller drives 4 motors and a Sparkfun IMU (gyro + accelerometer ) provides the tilt feedback to maintain balance. This is a work in progress and is not very stable.