Tube-Riding Robot

Tube-Riding Robot is my senior project while I was studying an electrical engineer at Kasetsart University. This robot can be able to balance itself on a tube. The balancing is controlled by PID controller. The feedback of the PID controller is a robot angular and angular velocity. There was sensed by IMU which has 6DOF of accelerometer and gyroscope. Then do the sensor fusion using a complementary filter.