DIY Self Balancing Robot

Click for last update video:

Initial technologies and hardware:

• Base CPU: Teensy32
• Comm and BUS network: ESP8266
• Balancing Sensors: IMU6050
• Motor Driver: L298N
• Motors: Basic DC Motors
• Tools and software PlatformIO framework (Open source ecosystem for IoT development)

Alpha Test Boards:

• NodeMCU 1.0 (ESP-12E Module) (ESP8266)
• RaspberryPi 3

Objectives:

• Two PID stages (accelerometer and pitch control)
• ESP8266 basic control (MiniOSC)
• ESP8266 to RaspberryPi Wifi interface via CoAP or OSC protocols (Bus data, control, others)
• RaspberryPi+Camera+ServoMotors (image processing via OpenCV)
• Suggest others features!

Current main config:

Teensy32 (Arduino framework)

[env:teensy31]
  platform = teensy
  framework = arduino
  board = teensy31
  targets = upload
  #build_flags = -DTEENSY31 -UUSB_SERIAL -DUSB_SERIAL_HID

Firmware Installation

Current firmware (Teensy32)

1. First install PlatformIO via pip:

   $ pip install -U platformio 
   

   or more info on oficial site: http://docs.platformio.org/en/latest/installation.html

2. Install basic libraries (PID, I2CLib core):

   $ platformio lib install 2 11
   

3. Clone project and external libraries:

   $ git clone https://github.com/HackBo/Self-Balancing-Robot
   $ mkdir external_libraries
   $ cd external_libraries
   $ git clone [email protected]:jrowberg/i2cdevlib.git
   $ cd ..
   

4. Compile project and deploy

   $ platformio run
   
   

Firmware v1.0 for Arduino ProMini

From main source and previous steps

$ git checkout tags/v1.0-ArduinoProMini
$ platformio run --target clean
$ platformio run

Schematics

Initial basic robot (ArduinoProMini)

(Alpha version, click for last schematic update)

Teensy32 and ESP8266

(cooming soon)

About this Project

Special Thanks:

• Luka Gabrić, base code for MVC and testing IMU from Franco Robot @gabricluka https://github.com/lukagabric
• Camilo Soto, SDK and hardware alternatives, review code and drivers @tucanae47 https://github.com/tucanae47