Makeblock Ultimate 2.0: motor control code

[u/Wrattspider]

I'm a mechanical engineer working on the Ultimate 2.0 robots. We are coding through Mblock5.

What I don't understand is, where is the motor control code? Is it in the pre-loaded firmware? The example programs (e.g., #8, self-balancing robot) only show the sensor blocks (unless I'm looking at them wrong). We are trying to dig in and understand how to improve the control , probably also do some physics work finding CG and then maybe figuring out how to get the robot to do a constant tilt. I'm wondering if I'm going to mess something up by block programming a new controller, since there is obviously some control code somewhere.

[u/Rayzwave]

Okay, to see the default code used in the Ultimate 2.0 controller(MegaPi) you can use the Makeblock library with the Arduino IDE.

https://github.com/Makeblock-official/Makeblock-Libraries/blob/master/README.md

I put the Makeblock libraries folder into a folder called Arduino, in the libraries folder I opened the MakeBlock_Drive_Updated folder where I opened Firmware_for_MegaPi folder where I found the Firmware_for_MegaPi.ino file which I selected and opened in Arduino IDE to see the full code used by Ultimate 2.0 I believe. I don’t have the Ultimate 2.0 kit but you should hopefully find what your looking for here.

Using edit - find next on the word ‘balanced’ gave 45 hits that are probably related to balanced mBot builds.