self-balancing-unicycle

PID controlled Unicycle/Inverted Pendulum Simulator in C++

Demo Video

Setting Up The Source Code

Requirements

1. Install Git
2. Install CMake
3. Install C++ compiler

Installation

git clone https://github.com/gavintranquilino/ml-unicycle.git

Setting up the build with CMake

1. Create a build/ and bin/ folder at the project root

mkdir build 
mkdir bin

2. Change directory to build

cd build

3. Build Makefile with CMake from source

• This step can be skipped if it was ran previously
• Or if a new library is created and needs to be included in the build

cmake -S ../ -B .

4. Build with Makefile

cmake --build .

5. Run the .exe

../bin/unicycle.exe

Resources

Setting up CMake

• Setting up CMake: Code, Tech, and Tutorials

Inverted Pendulum

• OpenAI gym: cartpole
• jasleon: Inverted-Pendulum

Relevant Math and Control Theory

• Karooza: Modelling an inverted pendulum