Dynamic Propelled Horizontal Device

This third model is maybe the most interesting one, because I didn't manage to get it run properly.

So I really appreciate your help and ideas!

First Manual Model

I built first a model with manual controls.

From left to right, bottom:

Leftmost, the emergency button to stop it all.
Left and right, opposite buttons command the speed of each motors, up and down, from 0 to 8.
In the middle, two buttons transfer speed from one motor to another. If left motor speed is 7 and right motor speed is 3, asking to transfer from left to right will give left motor speed of 6 and right motor speed of 4.

As shown is this picture, the device is horizontal and stays horizontal.

Metal axis is recommended to obtain a frictionless movement of the arm.

I also tried to play with duration on top of speed control, to cope with the inertia of the arm and the propellers.

Real Model With Accelerometer

I put the accelerometer on top of the arm and make sure everything's horizontal: the table (left) and the moving arm (right).

Based on what I observed from the first tests, the length of the arm is critical.

So I increased it to obtain a slower movement, although angular speed remains the same.

I played with different configurations of fuzzy logic rules, but I was unable to get the arm horizontal, as shown on the video.

I recorded all the data of the video: see next story Help Needed on Bunch of Data.

Self-Positionning Horizontal Device

Help Needed and Received