1. Gyro (yee-roh) Designed by Joshua Lewis

3. Introduction  Inverted Pendulum  ATMega MicroProcessor  Inertial Measurement Unit  PID Control Algorithm

4. The Inverted Pendulum  Axis of Rotation  Center of Mass  Attitude

5. Integrated System  Atmel ATMega128  Inertial Measurement Unit  Wheel Encoders  BlueSMiRF (Embedded Bluetooth Serial RF Link)  Texas Instruments Motor Driver  Liquid Crystal Display

6. Inertial Measurment Unit  Analog Devices ADXL330 Accelerometer  InvenSense IDG-300 Gyroscope

7. Control Algorithm  Hand Tuned Feedback Loop

8. Control Algorithm  One Dimensional Kalman Filter  Input Biased Angular Rate Gyro and Zeroed Accelerometer  Two State Output (Angle & Gyro Bias)  Angular Rate Byproduct of Computation

9. PID Control Algorithm  Torque = Kp*Angle + Kd*AngleRate + Kv*WheelSpeed  Gain Coefficients Are Tweaked By User During Run-Time Via Bluetooth Serial Wireless Link

10. THE END!