We are getting closer everyday to our goal, Ball-E manages sometimes to keep its balance for a bit more than a second.
Yesterday, we realized that the plastic between the wheels on the omni-wheels made a huge friction on the ball, preventing him from moving easily. Therefore, we used a soldering iron to melt the plastic and then a dremel to sand it and it is now working much better. We are now having a hard time choosing the coefficient of our PID algorithm. I hope you will be able to see videos of Ball-E standing by its own means soon !
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