Self Balance Robot

This repo serves as a record of my attempt to build a self-balancing robot (affectionately called rat :D ).

demo.mp4.mp4

Bill of Materials:

• Node MCU
• MPU6050 IMU
• L298N H-Bridge Controller + Motors
• 9V Battery
• Ribbon Cables
• Custom PCB Board (See PCB_files)

Installation

Warning

Turn off 9V power when connected to Node MCU

1. Download Visual Studio Code
2. Install the Platform IO Extension
3. Build /src/main.cpp and flash to Node MCU

Tips on Tuning

• Tuning Parameters found under /include/control/balance.cpp are specific to my robot. These may defer if different components are used.
• Typically, the IMU comes with a slight offset specific to each component.

Future Improvements:

• Mounting holes in PCB board are too small for M3 threads, and require some filing
• Shift wheel motor mounting points closer to the edge
• After prolonged usage, wheels do not rotate at magnitudes lower than 0.5 (Due to friction within the motor?)
• Include directional control based on Node MCU's Wifi Module?