Arduino Ball Balance System using PID control. I used the SainSmart HC-SR04 UltraSonic Sensor to sense where the ball is on the beam. The frame is made out of poster board, a pencil, hot glue, and a clothespin. I am using the Arduino Uno.
Although the project is cheap, there is significant noise in the sensor making it jumpy. I did my best to filter it out and still keep the gain values under control for the PID loop.
If you are interested in my code or libraries, you can download the files here:
Code:
https://drive.google.com/file/d/0BwvPJALrVHkRSjRTMlNDR1JjeUE/view?usp=sharing
Libraries:
https://drive.google.com/file/d/0BwvPJALrVHkROVBTSXNZbjNELUE/view?usp=sharing
https://drive.google.com/file/d/0BwvPJALrVHkReUc1TWl4RU5qTDg/view?usp=sharing
