Lego, Raspberry and Python Project - Reaction Wheel Inverted Pendulum

Single axis self-balancing reaction wheel inverted pendulum. This thing is inherently unstable and a common challenge in control theory. The mechanical structure is built using only Lego parts. Motor is also Lego. Angle sensor and electronics are not Lego. Enjoy! 00:00 platform 00:27 inertial measurement unit 02:39 motor driver 04:08 PID controller 07:10 tachometer 10:26 rise up sequence 10:57 the final result 13:06 change parts and parameters to see how they affect performance 18:32 specs (including python code) PARTS: Raspberry Pi Zero 2 W OKYSTAR TB6612FNG motor driver Elecrow SM9250MPU 9DOF IMU Lego EV3 Medium Servo motor [45503] Lego PF Rechargeable Battery Box [8878] Lego Gear Rack 11 x 11 Curved [24121] CODE: #t1s6ihP5UcFOJb5QGhX1Ww or