Bulding first balancing robot.

General project discussion / help
Did you make a robotic coffee pot which implements HTCPCP and decafs unauthorized users? Show it off here!

Moderator: phalanx

Bulding first balancing robot.

Postby Black_Stork » Mon Jul 31, 2017 11:38 am

I'm posting here because I need guidelines from more experienced hobbyists and perhaps professionals.

My goal is to build balancing robot and learn a bit about PID controllers.
-First point would be to build balancing robot with already available libraries, without remote control. So basicaly just standing frame.
-Second, adding remote control over robot to make it go forward, back, and turn right-left.
-Third, implementing Kalman filter from scratch, implementing PID from scratch

Third point might be to hard for me, but if I accomplish first two I will at least have working robot.
----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
PARTS:
- Teensy 3.2
- Pololu DRV8835 Dual Motor Driver Carrier (H-bridge) -- > https://www.pololu.com/product/2135
- Bluetooth Module HC-05v2 *2 --> https://botland.com.pl/moduly-bluetooth/2891-modul-bluetooth-hc-05-v2.html?search_query=bluetooth&results=279
- SparkFun 9DoF Sensor Stick LSM9DS1 --> https://www.sparkfun.com/products/13944
- 100:1 Micro Metal Gearmotor LP 6V --> https://www.pololu.com/product/992
- Plastic wheels with rubber ring --> https://www.pololu.com/product/1420
- 4 tapped rods
- 2 plexi plates
- 2 AA(R6) baterries basket --> for powering teensy, 3V
- 4 AA(R6) baterries basket --> for DC Motors, 6V, you can also use 9V battery
- Arduino UNO R3(for powering master HC 05)

PHOTOS:
I already have assembled frame. Here are photos:
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
https://drive.google.com/file/d/0B0iA-I ... sp=sharing

And wiring (without pololu bridge unfortunately, so look at product page to see pinout):
https://drive.google.com/file/d/0B0iA-I ... sp=sharing
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

1. How to calibrate gyroscope? How to interpret data from it? --> suggested library from sparkfun https://github.com/sparkfun/SparkFun_LS ... no_Library
2. What PID library will be the best for the task?
Black_Stork
 
Posts: 1
Joined: Mon Jul 31, 2017 7:50 am


Return to Projects

Who is online

Users browsing this forum: No registered users and 2 guests