Sorry it took me so long to find the Ball-Bot Arduino code and upload it. Finally, I have placed the zip file and the individual .pde files on dropbox.com. Please refer to the earlier blog for dropbox.com account access below. You do not have to install DropBox. You can just go to DropBox.com You will also find our final research documentation there. The research paper (PDF) is full of figures & diagrams, theoretical/mathematical proofs, trade studies & verification of approaches, and everything related to the final product that is the Ball-Bot.
You will find the latest version of our Arduino code that runs on the Arduino MEGA 2560. You can run this code on any Arduino, but you may have to change some of the pin configurations in the code. This code includes the PID controller and noise filtering algorithm. The code is of course designed for our unique Ball-Bot. However, this code was written as a non-linear, advanced, control system, and it should work for any Ball-Bot project of any size with very minor modifications.
The Arduino is a great way to build a custom ball-bot (or any hobby robot), but for something more simple and quicker, check out Lego Mindstorms NXT Robots.
