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7. How to make a Balboa balance

7.1. Sensor measurements
7.2. An example balancing algorithm

Balancing a two-wheeled robot like the Balboa is a classic problem in control theory, known as the “inverted pendulum”, and there are many approaches to solving it. This section discusses the simple balancing technique in the Balboa Balancer example, which uses feedback from the Balboa’s gyroscope and encoders to keep the robot upright.

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