Code Commits to capture changes of the Balancing bot created at the Makers Asylum.
Set I and D term to 0, and adjust P so that the robot starts to oscillate (move back and forth) about the balance position. P should be large enough for the robot to move but not too large otherwise the movement would not be smooth.
With P set, increase I so that the robot accelerates faster when off balance. With P and I properly tuned, the robot should be able to self-balance for at least a few seconds.
Finally, increase D so that the robot would move about its balanced position more gentle, and there shouldn’t be any significant overshoots.