Brushless_Gimbal_Balancing_Robot Arduino Code -The code is running on a mega328p and was compiled using Arduino 1.6.6 -The code cycle time is a constant ~250Hz At the heart of the code is a counter that is advanced every time TIMER1 overflows and triggers an interrupt routine. This counter triggers other events at specific intervals allowing the code to run at a known rate and simplify math in the control loop.

Brushless_Gimbal_Balancing_Robot.ino

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