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« on: March 31, 2019, 08:49:42 PM »
Dharmik
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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
https://github.com/mahowik/BalancingWii




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 TX  - NANO RX
HC-05 RX  - NANO TX
HC-05 5V  - NANO 5V
HC-05 GND  - NANO GND
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
MPU6050 GND   -  NANO GND


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
https://www.pololu.com/product/1182

* 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.



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