Self balancing robot : PID issue
Hello everyone,
I'mm trying to build a self balancing robot by myself.
For the electronics I took the schematic of this video :https://www.youtube.com/watch?v=WHdJEUPJojo&t=315s
But I have a MPU6050.
The issue is that I have 2 motors that works well but I try with the esp32 to send them pwm based on 0-4095, and when the duty cycle is < 1400 no motors move and so when I try to implement the PID beginning by the P, I can't get any solution that are correct.
I try to implement a bigger battery with a higher voltage and it do the same.
If someone knows if it is the code of the PID or the motor that I need to change or have any idea of the solution it would be great !
Thanks in advance !
The Tinkering Techie
YouTube
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In case : I have a PWM frequency of 7000 and a PWM resolution of 12