Here's some details of what I have and what I'm trying to achieve
I made a self balancing unicycle a while back, it consists of a 3-axis gyro accelerometer sensor to compute the rate and angle, kalman filter is used to compute the gyro bias and angle error
all that works fine
i compute torque as follows using PID
torque = d*rate + p*angle
and motor PWM output
PWM += torque
my question is how to limit the PWM, I want to set some threshold, ie: 50% so if commanded PWM is greater than 50% I want the motor to give boost and slow me down, basically output something larger than 50% momentarily
would this be a second PID?
or what other methods could be used?
I can just add a buzzer too.