SaR-PaM Balancing Robot

SaR-PaM is a two-wheeled self-balancing robot powered by an ESP32 and MPU6050, using a PID control loop for real-time stability and a dual-core FreeRTOS architecture to isolate time-critical balancing tasks from WiFi and WebSocket communication, ensuring stable operation. The robot supports command-based path memorization, enabling user-issued movement instructions to be recorded and replayed automatically, and is controlled through a React-based web interface communicating over low-latency WebSocket, with integrated safety and power management features such as fall detection and automatic light sleep mode.

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