PID Balancing Robot

This project was a fairly simple balancing robot design, but one I plan to build off of in the figure. This version featured an Arduino as the main controller and a single DC motor driving it. At this iteration, it was only capable of keeping itself upright and couldn't drive in any direction or turn, at least not intentionally. The control system of this robot was a PID controller taking input from a gyroscope and outputting a PWM signal to the motor driver.