Self-balancing robot capable of moving while avoiding obstacles. This is a small-sized robot based on the Arduino Pro Mini development board and the MPU6050 accelerometer-gyroscope module.

It will help me understand the concept of self-balancing for a future OFF-ROAD robot project. I will use the PID library for this purpose.

MPU6050 (Accelerometer + Gyroscope Module)

• Connected to the Arduino via I²C:

• SCL → A5 (SCL)

• SDA → A4 (SDA)

• Provides motion and tilt data for balance control.

Arduino Pro Mini

• Central microcontroller managing sensor input and motor control.

• Receives data from MPU6050 and controls the motor driver.

• Pins 2, 3, 4, 5, 6, 7, 8, and 9 are used for communication and control.

DRV8833 (Motor Driver Module)

• Receives control signals from Arduino to drive the left and right motors.

• Outputs:

• BOUT1, BOUT2 → Left Motor

• AOUT1, AOUT2 → Right Motor

US-020 (Ultrasonic Distance Sensor)

• Connected to Arduino for obstacle detection.

• Uses TRIG and ECHO pins for distance measurements.

• Helps in obstacle avoidance while balancing.

5V Regulators (x2)

• Regulate power from the battery to provide a stable 5V supply.

• One likely powers the Arduino and sensors; the other may power motors or logic.

• Connected to battery terminals via red (+) and black (–) lines.

Battery

• Provides the primary power source for all components via terminals.

• Positive and negative rails are color-coded: red for +, black for –.

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