Learn about our process for designing and fabricating our self-balancing unicycle!
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In the first sprint, we simulated our inverted pendulum by using the motors and the chassis used in the line following robot and attaching a bar over the chassis. We also created a PID to control motor velocity and balance through angle control
In sprint 2, we looked for appropriate components, designed a full CAD file, and optimized the control loop.
During this sprint, all our raw materials and components came in enabling us to finally lock CAD, and begin assembling our full drivetrain system.
For the final sprint, we pivoted and created a electrically powered scooter instead of a self balancing unicycle.