Tips for successful PID tuning

Hello all! I’m somewhat new to robotics and still stumbling my way through a lot of things, I have been working on a quadruped walking robot for a while now and was trying to use an MPU6050 to help it balance itself. I have it figured out so that it calculates the angle properly and makes adjustments in the correct places, however my PID equation is giving me headaches, I have been trying to tune it but the Kd term seems to have no effect on the oscillations. Does anyone have any advice or recommended resources?

submitted by /u/Arcusthorn
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