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Self Balancing Robot Report - Team YEEET!

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47 views4 pages

Self Balancing Robot Report - Team YEEET!

Uploaded by

sk23ecb0f24
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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TEAM YEEET!

(M Rishwik, 22ECB0A40
S Shaurya, 22ECB0A21
M Ramakrishna, 22ECB0A14
Y Vivek, 22ECB0A17)
JoE, Semester 2
Saturday, 17th June

Self-Balancing Robot - Bluetooth Controlled

Abstract:
A self-balancing robot made using a microcontroller board and Stepper
motors.

Introduction:
It’s an Arduino-controlled robot that balances on its own. It takes the help of a
device that gives constant feedback on its inclination. The Arduino is
programmed to take this input and turn the motors accordingly to balance the
robot. It can carry light loads on top of it when another platform is placed. It
can also be controlled with a smartphone via Bluetooth.

Circuit Diagram:
List of Components:

1. Arduino Nano
2. MPU6050 Gyroscope and Accelerometer Module
3. Motor Driver Module A4988
4. NEMA17 Stepper Motors
5. Wheels
6. Power Supply (3.7 Li-ion Batteries x3)
7. Prototyping PCB
8. Miscellaneous components (e.g., capacitors, resistors, wires, etc.)

Total Cost: ₹3898/-

Description and Working of Circuit:


The brain of the circuit is the microcontroller. It is programmed to take the
input from the MPU6050 Gyroscope, which gives the angle of inclination, or
the pitch or roll of the robot. The microcontroller then calculates the
acceleration needed to counter the inclination and it results in the robot
balancing. This information is conveyed to the motors through the helpful
A4988 motor drivers which make operating the stepper motor much more
straightforward. An app called ‘EZGUI Ground Station’ is installed in a
smartphone to communicate with the Bluetooth module (HC-05). The
Bluetooth module’s baud rate is changed from its default to 115200 Before
uploading the code to the microcontroller.

Code:
The code and its related files were taken from GitHub. Credit for the code goes
to its creator Mahowik for the folder ‘BalancingWii’. This code is related to the
way segways operate, which were once popular. The robot would move in the
direction is it inclined all while balancing itself. Please refer to the ‘References’
section. For our project, we modify the code according to the orientation of
our MPU6050, choosing between the options PITCH and ROLL, according to the
direction in which the robot would tilt.

Completed Circuit Photograph:

Results and Discussion:


This robot could also be made using dc motors, which are a much energy and
cost-efficient solution. However, we wanted to use the stepper motors, which
should otherwise be used in applications that require precise motor
movements, like the 3D printer. This robot was not entirely our own idea, nor
did we design the working and structure. Instead, our work was in following
the tutorial and building the robot to get a hands-on learning experience while
making the robot itself. There were challenges along the way, one
microcontroller failed, the app for communicating had some trouble installing,
and finding the correct circuit diagram was hard. In the end, though, the robot
worked and it was rewarding.

Conclusion:
The robot turned out to be successful. It shows how fast computer calculations
of physics combined with electrical machines to interact with the environment
can achieve such significant results. This project made us realize how powerful
robots can be and provided the inspiration to improve, learn, think, and make
another project from a unique idea entirely designed by us.

References:
Code and files: https://github.com/mahowik/BalancingWii.git
Video followed: https://youtu.be/XCvviy86NZA
Blog followed: https://robu.in/diy-self-balancing-robot-using-balancewii/

[End of Report]

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