Balancino , the balancing robot
This is a small balancing robot with 2 wheels
that is powered by 2 continuous servo motors.
The Algorithm is loaded on an Arduino Uno.
An accelerometer Shield (Robogaia Accelerometer/Gyro Shield) is used to sense the state of the robot.
Both accelerometers and the gyros is used in the algorithm to determine the speed of the motors.
that is powered by 2 continuous servo motors.
The Algorithm is loaded on an Arduino Uno.
An accelerometer Shield (Robogaia Accelerometer/Gyro Shield) is used to sense the state of the robot.
Both accelerometers and the gyros is used in the algorithm to determine the speed of the motors.
Here is the first try of the algorithm. Not too great ,but there is room for improvement.
The balancing algorithm is described here and here.
The balancing algorithm is described here and here.
| balancino_code_first_try.zip |
Servo motors
The robot uses 2 servo motors to engage the wheels.
They are connected to Pins 3 and 9 .
They are connected to Pins 3 and 9 .
Balancing robot Servo Motor Connection
The Frame
The frame was cut from a sheet of plastic with the CNC machine.
I used Cut2D to design and convert the design to GCODE (the code that is understood by the CNC machine)
I used Cut2D to design and convert the design to GCODE (the code that is understood by the CNC machine)
Balancino Frame design