I'm building a two-wheeled, self-balancing, remote-controlled robot. I'm familiar enough with the IMU and PID to get it working to just stand up but I need to drive it via remote control.
I've got no code written yet; trying to understand the concepts before diving in.
This much I understand:
[IMU] -> [Kalman filter] -> [PID] -> [Motors]
Where I'm getting tripped up is where to mix the RC component into that control chain?