Mobile Inverted pendulum spins slowly for the camera.

Inverted pendulum: I built this in 2005 for fun as it looked like a good challenge. The mechanical build time was very quick especially s my wife suggested attaching the motors with bulldog clips. What a great idea. The software was by far the biggest challenge. Motor controlled with simple PID (proportional, integral, derivative ) integral needed a hard limit to stop it doing stupid things. Inertial measurement unit from scratch, gyroscope and accelerometer fused with an extended Kalman filter No wheel encoders were used. Batteries up as high as possible to raise the CG ( center of gravity ). BGA (ball grid array) gyro mounted on a home etched board, soldered in a 50 dollar toaster oven LOL.