Aditya ATOM
INDIA • + Follow
Components
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Mini Breadboard |
x 2 | |
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Arduino Nano |
x 1 | |
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MPU6050 |
x 1 | |
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L293d driver IC |
x 1 | |
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N20 gear motor |
x 2 | |
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N20 motor brackets |
x 2 | |
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N20 motor wheels |
x 1 |
Tools, APP Software Used etc.
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arduino IDEArduino
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Autodesk Fusion 360Autodesk
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Description
The Breadboarded Self Balancing Robot
A self Balancing Robot where electronic modules and components are connected to each other on a breadboard.
How easy it is to assemble:
- 3D print the chassis
- mount the brackets on the chassis
- insert the motor
- connect all modules and components together on breadboard using jumpers
- insert the breadboard and batteries on the chassis
Making the Robot to balance:
- install the drivers for arduino
- install libraries for MPU6050 and PID controller
- Upload the code in arduino
Power the robot using 9V batteries and see it in action
More build details here.
All the project files are on Github.
Code
Arduino Code
C/C++
//Installing necessary libraries
#include <Wire.h>
#include <I2Cdev.h>
#include <MPU6050.h>
#include <PID_v1.h>
//defined macros
#define LeftMotorDir 11
#define LeftMotorPower 5
#define RightMotorDir 10
#define RightMotorPower 6
#define LeftMotorEnable 8
#define RightMotorEnable 9
//the angle where the robot is stable
double Setpoint = -0.75;
double Input, Output;
//PID controllers
double Kp = 4.6;
double Kd = 0.04;
double Ki = 1;
//required variables
int accY, accZ, gyroX;
float accAngle = 0, gyroAngle = 0, previousAngle = 0;
float gyroRate = 0;
int val = 0;
//instance of class PID
PID myPID(&Input, &Output, &Setpoint, Kp, Ki, Kd, DIRECT);
//instance of class MPU6050
MPU6050 mpu;
/*.............................SETUP.................................*/
/*...................................................................*/
void setup() {
//initializing MPU6050
mpu.initialize();
//setting the pinmodes
pinMode(LeftMotorEnable, OUTPUT);
pinMode(LeftMotorDir, OUTPUT);
pinMode(LeftMotorPower, OUTPUT);
pinMode(RightMotorEnable, OUTPUT);
pinMode(RightMotorDir, OUTPUT);
pinMode(RightMotorPower, OUTPUT);
//making enable pin high
digitalWrite(LeftMotorEnable, HIGH);
digitalWrite(RightMotorEnable, HIGH);
//setting PID parameters
myPID.SetMode(AUTOMATIC);
myPID.SetOutputLimits(-255, 255); // may change (50,255);
myPID.SetSampleTime(5); //how often pid is evaluated in millisec
myPID.SetControllerDirection(REVERSE);
//initialize the timer
initTimer2();
}
/*..............................LOOP.................................*/
/*...................................................................*/
void loop() {
accZ = mpu.getAccelerationZ();
accY = mpu.getAccelerationY();
gyroX = mpu.getRotationX();
accAngle = atan2(accZ, -accY) * RAD_TO_DEG;
gyroRate = gyroX / 131;
Input = 0.97 * (previousAngle + gyroAngle) + 0.03 * (accAngle);
previousAngle = Input;
myPID.Compute();
if (Output > Setpoint)
{
digitalWrite(LeftMotorDir, LOW);
digitalWrite(RightMotorDir, LOW);
val = map(Output, 0, 255, 18, 255);
analogWrite(LeftMotorPower, val);
analogWrite(RightMotorPower, val);
}
if (Output < Setpoint)
{
digitalWrite(LeftMotorDir, HIGH);
digitalWrite(RightMotorDir, HIGH);
val = map(Output, -255, 0, 0, 237);
analogWrite(LeftMotorPower, val);
analogWrite(RightMotorPower, val);
}
}
/*................... ........ISR_TIMER2.............................*/
/*...................................................................*/
ISR(TIMER2_COMPA_vect)
{
gyroAngle = (float)gyroRate * 0.001;
}
/*...........................iniTimer2...............................*/
/*...................................................................*/
void initTimer2()
{
//reset timer2 control register A
TCCR2A = 0;
//set CTC mode
TCCR2A |= (1 << WGM21);
TCCR2A &= ~(1 << WGM20);
TCCR2B &= ~(1 << WGM22);
//prescaler of 128
TCCR2B &= ~(1 << CS21);
TCCR2B |= ((1 << CS22) | (1 << CS20));
//reset counter
TCNT2 = 0;
//set compare register
OCR2A = 125;
//enable timer1 compare match interrupt
TIMSK2 |= (1 << OCIE2A);
//enable global interrupt
sei();
}
MPU6050 library
https://github.com/jrowberg/i2cdevlib
PID library
https://github.com/br3ttb/Arduino-PID-Library
Schematic and Layout
Schematic
assembly.PNG
CAD-Custom parts and enclosures
Chassis
1.6mm_support.step
chassis
1.6mm_support.stl
Sep 24,2021
3,567 views
The Breadboarded Self Balancing Robot
A Self Balancing Robot made around a breadboard.
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10.00 (1)
Published: Sep 24,2021
Standard PCB
PCBWay Donate 10% cost To Author
Project images are for reference only. Actual production is based on the manufacturing files on the project page.
Please review the designer's notes (e.g., PCB thickness) and select the appropriate options.
PCBWay is not responsible
for issues caused by unsuitable parameter selections.
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Under the
Attribution-NonCommercial-ShareAlike (CC BY-NC-SA)
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Raspberry Pi 5 7 Inch Touch Screen IPS 1024x600 HD LCD HDMI-compatible Display for RPI 4B 3B+ OPI 5 AIDA64 PC Secondary Screen（Without Speaker）
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