RC India
Welcome Guest, please login or register.
Pages: [1]   Go Down
0 Members and 1 Guest are viewing this topic. Topic Tools Topic Tools 
« on: March 31, 2019, 08:49:42 PM »
Heli Lover
Forum Hero


Reputation Power: 13 
Dharmik has no influence.
Offline Offline

City: Bharuch
State: Gujarat
RC Skills: Beginner
Posts: 1082
Join Date: Sep, 2011

Self Balancing Robot

This is my latest project of self balancing robot. The robot using Arduino Nano as a microcontroller. MPU6050 gyro+accelerometer sensor stabilizes the robot by sending signals to A4988 drives which rotates the nema17 stepper motors. In next part of this video I will show you build log of this project. The project looks simple but needs to keep many things in mind to get it work properly. I will try to cover all these things in my build video so you can build your robot smoothly. Please check below parts list

Required items:

* 1 x Arduino Nano
* 2 x A4988 polulu step sticks
* 2 x Nema17 stepper motors
* 2 x 100uf capacitors
* 1 x HC-05 Bluetooth module
* 1 x 3S lipo battery
* 1 x DC-DC buck converter
* Plastic sheet
* 2 x robot wheels according to motor shaft dia
* Plain PCB board
* Some wires, M2M and F2M header pins
* Standoffs and screws for frame

Robot can be controlled by multiwii Android app. There are position hold, simple and auto stand modes available. Please stay tuned with us and subscribe to the channel for more exciting projects.

Code credits: mahowik

So in this part we will see how to make circuit board of self balancing robot. You can use plain PCB first to test if everything is correctly connected. Check circuit diagram carefully before starting.

HC-05 Bluetooth module
HC-05 5V  - NANO 5V
HC-05 module must be programmed with correct baud rate to be able to communicate with Android app. I will upload detailed video later.

MPU6050 Sensor
MPU6050 SDA   -  NANO A4
MPU6050 SCL   -  NANO A5
MPU6050 5V   -  NANO 5V

A4988 Motor driver
A4988 ENABLE (both drivers) -  NANO D4
A4988 STEP1 -  NANO D5
A4988 STEP2 -  NANO D6
A4988 DIR1 -  NANO D7
A4988 DIR2 -  NANO D8

A4988 Motor driver
* VMOT & GND directly connected to 3S lipo
* VDD & GND connected to NANO for 5V
* To convert A4988 driver into 1/8 micro stepping MS1 and MS2 are connected to NANO 5V while MS3 is connected to NANO GND this will make MS1-MS2 pins on HIGH and MS3 pin on low. check official website for more information

* To provide regulated 5V to NANO we are using DC-DC buck converter which will convert 3S lipo voltage to 5V.

* Two capacitors of 16V 100uf connected in parallel between VMOT GND on experimental basis.


Pages: [1]   Go Up
Jump to:  

Related Topics
Subject Started by Replies Views Last post
Prop balancing
Beginners Zone
K K Iyer 5 2881 Last post April 03, 2014, 09:08:14 AM
by wingmanbunty
CG balancing for a Foamy
Electric Planes
FlyingBrick 6 3427 Last post April 07, 2014, 04:05:09 PM
by FlyingBrick
balancing the rc plane
Beginners Zone
prateek katiyar 2 1292 Last post April 05, 2014, 11:29:04 PM
by K K Iyer
Multirotor board - balancing robot « 1 2 3  All »
Self-designed, DIY and College Projects
saikat 56 21157 Last post January 24, 2015, 02:23:44 PM
by sudhakar_yg
Is it possible to build a self balancing robot using modern FC F3/F4
Beginners Zone
kishorParida 9 1191 Last post June 21, 2018, 01:02:48 PM
by kishorParida