Inverted Pendulum icon Inverted Pendulum Balancing controller for Sainsmart v3 (and compatible) robots: PID tuning, real‑time telemetry, angle offset, movement and calibration via ARC. Try it →

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#4  

Very nice! I did get a error that $multiplier was not defined. I added $multiplier = 0 at the top to initialize it.

#5  

Cool. Thanks for letting me know I just added it to the example script.