Where are the example Arduino sketches for Ultimate


I have looked and looked but can not find a repository for sketches to control balance robot. Do I have to write this myself? I’ve looked through the documentation and don’t find what I need. I see people with videos of their balance robot working…I must have missed something. Can someone offer advice?




the balancing mode is part of the megapi firmware (this is executing the balancing when you control by smartphone app), so you might want to take a look at how to set up with arduino here:

And if you’re interested in the code, it is here:

search for “BALANCED_MODE” and you can see the PID control details.