Self Balancing Robot

🤖 Power of balancing a Robot just on two wheels , Made with Arduino Uno.

cplusplus

C++

arduino

Arduino

Source Code

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Self-Balancing Robot Project

This project involves building a self-balancing robot using an Arduino Uno microcontroller.

Hardware Required

HardwareQuantity
Arduino Uno1x
Mpu-60501x
L298 H-bridge Motor Driver1x
9v Batteries2x
Generic Motors2x

Software Required

You need to install the Arduino IDE to burn the program into the Arduino board.

Getting Started

  1. Clone the repository to your PC: git clone https://github.com/himanshu12345yadav/Self-Balancing-Robot.git
  2. Navigate to the cloned project: cd Self-Balancing-Robot
  3. Flash the SelfbalancinRobot file onto the Arduino board using the Arduino Software.
  4. Use the mpu_calibration file to find the balance point of the robot.

How to Get PID Constants

PID constants may vary for different structures. To find the best values of the PID constants:

  1. Run the SelfbalancingRobot file and check the serial monitor.
  2. Find the PID constants by hit and trial method.
  3. The best PID value is the one which makes the robot balance easily without any jittering.

Hardware Connections

Use the arduinoConnections file provided in the project folder for hardware connections. In this project, a Bluetooth module is used but you can completely ignore it and do other wiring.

Additional Resources

To understand the program better, take a look at the register map of the Mpu-6050 here.

Happy hacking!