![]() ![]() Ĭan I buy one ready built? Well, looks as if you now can. ![]() If you want to build a big unicycle check out this one I built with two friends for the 2014 Hackaday competition, called the MediCycle. If you use a digital Sparkfun 6dof IMU (which is much more easily available) then for instructions on how to use this with an Arduino, to control a self-balancing skateboard, with code, then look at this new Instructable of mine here: Īlso there is a scooter I have made inspired by the 1970's Raleigh Chopper with updated (December 2014) software using the same easily available digital IMU from Sparkfun: Raleigh Chopper inspired self-balancing scooter. Therefore I have removed the pages that describe the IMU wiring and the code as it is confusing people. UPDATE regarding IMU's and CODE (December 2014): This Instructable is a little old now and the IMU used is no longer available. More on the new one is here: NOTE: All my self balancing projects are now documented on my Youtube channel here: Click Lower photo is 2013 not-so-easy-build version, with pneumatic tyres and Headway LiFePO4 batteries just to see how far I could push this overall concept. Upper photo is original budget version with two lead-acid batteries and solid wheels. Steering by a simple rocker switch in hand controller (or a rewired Wii-Nunchuck as in photos if you are more ambitious). It knows which way is "up" via a combination of gyroscope and and accelerometer sensors, using a complementary (not complimentary) filter which reads and combines data from both 100 times per second. Plan here was to build something like a Segway but in the form of a skateboard. ![]() Electric skateboards exist already with powered rear wheels. I recommend that you create a similar robot frame using the materials used in this project to make the source code for the Balance Robot work stably and efficiently.What is it? Twin wheeled skateboard that works like a Segway. ![]() The correct Ki value will shorten the time it takes for the robot to stabilize. The robot will oscillate when turned on even if the Kp and Kd are set but will stabilize in time. Also, the right amount of Kd will keep the robot standing even if pushed. A good Kd value will lessen the oscillations until the robot is almost steady. A good enough Kp will make the robot slightly go back and forth (or oscillate a little). Too much Kp will make the robot go back and forth wildly. Too little Kp will make the robot fall over (not enough correction). We will adjust the PID values manually instead. PID requires that the gains Kp, Ki, and Kd values be “tuned” to optimal values. The MPU6050 reads the current tilt of the robot and feeds it to the PID algorithm which performs calculations to control the motor and keep the robot in the upright position.In our Arduino self-balancing robot, the input (which is the desired tilt, in degrees) is set by software.The PID controller reduces the error to the smallest value possible by continually adjusting the output.The difference between the input and the output is called “error”. PID provides correction between the desired value (or input) and the actual value (or output).Each of these parameters has “gains” normally called Kp, Ki, and Kd. P for proportional, I for integral, and D for derivative.In control theory, keeping some variable (in this case, the position of the robot) steady needs a special controller called a PID.The I2Cdev library and MPU6050_6_Axis_MotionApps20 library are for reading data from the MPU6050.The LMotorController library is used for driving the two motors with the L298N module.The PID library makes it easy to calculate the P, I, and D values.We need four external libraries to make self-balancing robot work. The code developed for the balance robot is too complicated. 3.7v 18650 Rechargeable Li-ion+Charger - Īrduino Starter Kit and Supplies(Optional): Arduino Board & SCM Supplies #01 - Īrduino Basic Learning Starter Kit #01 - Īrduino Basic Learning Starter Kit #02 - Īrduino Basic Learning Starter Kit #03. ![]()
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