Ideja je bila izraditi samobalansirajući robot koji će preko Atmega32 mikrokontrolera komunicirati sa MPU6050 žiroskopom i akcelerometrom čije se vrijednosti šalju na PD regulator čiji se odziv šalje na aktuatore. Cilj zadatka je konstruirati robota i napisati čitav programski kod u C programskom jeziku. Potrebno je ostvariti komunikaciju sa MPU6050 te filtrirati dobivene signale komplementarnim filtrom. Zatim, realizirati PD regulator te podesiti parametre kako bi se dobilo željeno dinamičko vladanje. Za aktuatore je potrebno izraditi štampanu pločicu sa L293D čipom i napisati programski kod za kontrolu. Robot uspješno vrši balansiranje prema zamišljenom planu.

The idea was to build self-balancing robot which will communicate to MPU6050 gyroscope and accelerometer with Atmega32 microcontroller which values are then sent to PD controller whose output is sent to actuators. Main goal is to construct the robot and to write program code in C programming language. It is necessary to communicate with MPU6050 and filter the values with complementary filter. Furthermore it is needed to design PD controller and adjust the parametars to get desired dynamic behavior. Printed circuit board with L293D chips was needed for the actuators and to write a programing code forcontrol of the motors. Every goal that was defined in the beginning wasachieved and we have a stable and functional self-balancing robot.