Use when building or debugging self-balancing robots (two-wheel balancers, Segway-style platforms) or balance-aware legged locomotion (ZMP-based walking). Provides the inverted pendulum math, a complete IMU→filter→PID→motor recipe with exact starting gains, deadband/backlash compensation, ZMP fundam
Use when building or debugging self-balancing robots (two-wheel balancers, Segway-style platforms) or balance-aware legged locomotion (ZMP-based walking). Provides the inverted pendulum math, a complete IMU→filter→PID→motor recipe with exact starting gains, deadband/backlash compensation, ZMP fundamentals, steering mixing, and the diagnosis tree for oscillation and drift on real hardware.