Arduino Balancing Robot

thingiverse

Arduino Balancing Robot This robot embodies an inverted pendulum where the robot must maintain its balance. If the robot is pushed or a disturbance occurs, it will attempt to correct itself. This balancing robot was designed to illustrate how a PID controller works as a feedback system. The robots provided were large and utilized a potentiometer to sense the angle of the inverted pendulum. This robot employs an MPU5060 to sense the angle, an Arduino UNO to process the PID controller, and an L293D to drive the motors. This is a basic feedback system, but the primary error correction occurs within the Arduino ATMEGA328P. The program utilizes the Arduino PID Library by Brett Beauregard found at https://github.com/br3ttb/Arduino-PID-Library. A potentiometer Arduino Shield (found at https://github.com/tinkersprojects/Servo-and-Potentiometer-Arduino-Shield) was used to control the gain and parameters of the PID on the fly, making it easy to adjust. Two potentiometers were removed from the board to ensure the I2C bus on pins A4 and A5 functioned without issues. Servo and Potentiometer Arduino Shield found at https://github.com/tinkersprojects/Servo-and-Potentiometer-Arduino-Shield. The PCB can be purchased from: https://tinkersprojects.com/product/servo-and-potentiometer-arduino-shield/. Arduino PID library: https://github.com/br3ttb/Arduino-PID-Library. Keep up to date New parts will be added; stay informed by following: Project page -> https://tinkersprojects.com/project/balancing-robot/ This Thing -> https://www.thingiverse.com/thing:2858039 My Profile -> https://www.thingiverse.com/haybailes/about <a href="https://twitter.com/TinkersProjects"><img src="https://tinkersprojects.com/wp-content/uploads/2018/04/download.jpg" alt="Twitter" height="70" srcset="https://tinkersprojects.com/wp-content/uploads/2018/04/download-300x110.jpg 300w, https://tinkersprojects.com/wp-content/uploads/2018/04/download-350x129.jpg 350w, https://tinkersprojects.com/wp-content/uploads/2018/04/download.jpg 370w" sizes="(max-width: 300px) 100vw, 300px"></a> See Other Projects View this and other projects that I have created: http://tinkersprojects.com/