After getting so much frustrated over PID tuning of quadcopter, I decided to master PID first on some basic project. Self-balancing robot seems an idle choice. Since it’s not new and still challenging, I decided to go for it.
I never thought it will be easy and I am not disappointed. I learned a lot from it and decided to share it with others.
Step 1: Concept/Theory
What is Self-balancing robot?
Self-Balance Robot is somewhat which balances itself and automatically corrects its position on disturbance.
How it works?
It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical. If the bot gets tilts by an angle, than in the frame of the wheels, the center of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt.
That’s the technical answer. If you want to know in simple terms, recall the stick balancing game which you used to play in your childhood.Yeah, the one in which you balance stick in your hand. If stick falls forward, you move your hand forward and vice-versa. Now consider the stick your robot and the 2 tire’s as your hands. The same technique you used to balance stick will now be used to balance robot.
First we need some materials to build our chassis. I choose Acrylic sheet. Some screws will be needed according to design which we will discuss shortly plus 2 tires.
Adafruit has had paid day off for voting for our team for years, if you need help getting that going for your organization, let us know – we can share how and why we did this as well as the good results. Here are some resources for voting by mail, voting in person, and some NY resources for our NY based teams as well. If there are additional resources to add, please let us know – adafruit.com/vote
Stop breadboarding and soldering – start making immediately! Adafruit’s Circuit Playground is jam-packed with LEDs, sensors, buttons, alligator clip pads and more. Build projects with Circuit Playground in a few minutes with the drag-and-drop MakeCode programming site, learn computer science using the CS Discoveries class on code.org, jump into CircuitPython to learn Python and hardware together, TinyGO, or even use the Arduino IDE. Circuit Playground Express is the newest and best Circuit Playground board, with support for CircuitPython, MakeCode, and Arduino. It has a powerful processor, 10 NeoPixels, mini speaker, InfraRed receive and transmit, two buttons, a switch, 14 alligator clip pads, and lots of sensors: capacitive touch, IR proximity, temperature, light, motion and sound. A whole wide world of electronics and coding is waiting for you, and it fits in the palm of your hand.