nice work,
I want to follow your work to make one .
Can you provide pcb circuit diagram ?
Thanks.

Code looks strange and incomplete!

This part doesn't handle all positions:

Set the vertical mass center

pwm_adjust(corrected_y);
if(corrected_y>-50 && corrected_y<-18){
    backward();    
}else if(corrected_y>=-15 && corrected_y<0){
    forward();          
}else{
    stop();
}

corrected_y values between -18..-15 or > 0 leading to stop. Is this intended?

rgds.

bestware

Hi there,
Please bare with a novice, I am trying to build SBR for my 5 year old niece. I included Kalman Library, copied I2C.ino into the folder where sbr_code_ardunio.ino is located. When I try to upload code to arduino Pro mini 16 MHz version I get error
/Documents/Arduino/Self_Balancing_Robot-master/sbr_code_arduino/I2C.ino: In function 'void loop()': I2C:173: error: 'pwm_adjust' was not declared in this scope I2C:175: error: 'backward' was not declared in this scope I2C:177: error: 'forward' was not declared in this scope I2C:179: error: 'stop' was not declared in this scope I2C:185: error: a function-definition is not allowed here before '{' token I2C:199: error: a function-definition is not allowed here before '{' token I2C:213: error: a function-definition is not allowed here before '{' token I2C:227: error: a function-definition is not allowed here before '{' token I2C:63: error: expected '}' at end of input } ^ exit status 1 'pwm_adjust' was not declared in this scope

Which library did I missed here?