I started my balancing attempts today by first changing the logarithmic PWM table to a linear table, and then began tuning the PID algorithm multipliers. I started with the Kp value of 23, which was what I came up with yesterday. That turned out to be too small a value, so I kept increasing it, and I also adjusted the target angle as it began to look like my original (estimated) target angle of -2 degrees was not quite correct. After some tuning I got my robot to stay upright (with just a little bit of help when it speeded up a bit too much and looked like it was about to fall)! Here is the YouTube video I recorded after it began to look like my robot can actually stay upright for a while. This is unedited as I wanted to record the exact behavior of the robot, so I could then compare the video with the logs.
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