PIFWRobot

PIFWRobot is an open source project for two-wheeled self-balancing robot.

Demo

Without any velocity command, the robot is trying to stabilize its self.

Repository Contents

• firmware:
  • balancing-robot: The entire firmware for STM32F103C8T6 MCU
  • esp8266_arduino: ESP8266 Arduino based TCP server firmware
• software:
  • GCSQt: A Qt based ground control station for remote controlling, calibration and PID tunning
  • mavlink: Mavlink message definitions and code generation tools
• hardware:
  • board: Altium Designed based schematic and PCB source for the main board
  • frame: SolidWorks based frame source for the robot

Hardware

• 1 STM32F103C8T6
• 1 MPU6050/9250
• 2 DC Motors with Encoder
• 1 ESP8266 for remote control, calibration and PID tunning
• 1 L298 DC Motor Driver
• 1 12V Li-po battery

PID algorithm

Cascade PID:

• Inner loop: tilt controller
  • Input:
    • Tilt set point from outer loop
    • Feed back tilt from sensor (MPU6050/9250)
  • Out put:
    • PWM duty circle for both motors
• Outer loop: velocity controller
  • Input:
    • Velocity command from remote controller
    • Feed back velocity from encoder
  • Output:
    • Tilt for inner loop

License & copyright

@ Van Tuan Ngo, Ho Chi Minh City University of Technology

Licensed under the MIT license