Zippy Pt II: Arduino Nano Balancing Robot Upgrades

Update: See Zippy’s new 3D printed frame at and :2291516 I’ve made a few upgrades to Zippy since I posted the first video. The control law has been adjusted for better agility and performance at high speeds. Also, I’ve added two yellow 3D printed panels for a power switch and an LCD screen. The LCD screen is used for accelerometer and gyro calibration at turn-on, and for voltage monitoring during operation. I hope this video helps inspire other similar projects! If you are interested in putting together a similar project, I’ve put the code and schematic at: This can all be hand soldered together on a PCB stripboard with lots of jumper wires, male/female headers, and patience.