Inverted Pendulum Using Reaction Wheel

These are the files for a class project, MEC 830 - Mechatronics Design - Project 1. The aim of this project was to create a self balancing inverted pendulum. The method I chose was via a reaction wheel.

DISCLAIMER: The hardware used, specifically the motor used, was not able to balance the pendulum, (lack of torque because I used a drone motor, should've used a gimbal motor).

The code can be found here: https://github.com/ParimitiveChild/MEC-830-Reaction-Inverted-Pendulum