[Dprglist] Lego, Raspberry and Python Project - Reaction Wheel Inverted Pendulum

[Karim Virani]

https://youtu.be/WObG2LoSEwQ

Just wanted to share this very nice example of deliberate and experimental
improvement of real world control of an inverted pendulum (like walking) in
this case using a reaction wheel.

The number of configurations and variations tested is very cool.

It also helps to clarify some concepts around dynamic balance. Like
accelerometers don't really help because you are not actually chasing where
up is, you are only chasing the orientation where the gyro tends to flip
direction and change the slowest, and gyro drift doesn't really matter.
This is well demonstrated at 11:25.

I'm tempted to say some things about their usage of Angle Fix Rate and
whether they really got the optimal PID values, but I've had my fill of PID
discussions for a while.

I just appreciate the thoroughness of the approach they took and how well
it was documented and communicated in the video edit.
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