Just implemented QuickPID for my self balancing robot and it works

[jimrd]

My self balancing robot is balancing after implementing QuickPID and am happy about that. Didn't work at first until I set SampleTimeUs to 5000, default was too fast. Just running a PI controller now but it does do one thing funny thing, it balances well for a few seconds and then starts rolling forward and then backward as if the Integral is saturated. Not sure what is happening unless just windup and I haven't played with QuickPID parms on integral. So we will see. Just a simple SBR with no encoders so it will wander off a bit but I would like to keep it in one place at least. But thanks for the controller, my old code was questionable