This is an old revision of the document!
Self-Balancing Robot
Introduction
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.
General Description
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 –.
The MPU6050 senses tilt and sends data to the Arduino, which processes it using a PID algorithm.
Based on the tilt angle, Arduino sends commands to the DRV8833 motor driver to adjust the rotation of the left and right motors to balance the robot.
The US-020 sensor detects nearby obstacles and can be used to alter motor behavior to avoid collisions.
Hardware Design
- listă de piese
- scheme electrice (se pot lua şi de pe Internet şi din datasheet-uri, e.g. http://www.captain.at/electronic-atmega16-mmc-schematic.png)
- diagrame de semnal
- rezultatele simulării
Software Design
- mediu de dezvoltare (if any) (e.g. AVR Studio, CodeVisionAVR)
- librării şi surse 3rd-party (e.g. Procyon AVRlib)
- algoritmi şi structuri pe care plănuiţi să le implementaţi
- (etapa 3) surse şi funcţii implementate
Rezultate Obţinute
Concluzii
Download
.
Fişierele se încarcă pe wiki folosind facilitatea Add Images or other files. Namespace-ul în care se încarcă fişierele este de tipul :pm:prj20??:c? sau :pm:prj20??:c?:nume_student (dacă este cazul). Exemplu: Dumitru Alin, 331CC → :pm:prj2009:cc:dumitru_alin.
Jurnal
Bibliografie/Resurse
