Self Balancing Robot
Drew Paschal.
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This project is designed to create a self balancing robot featuring two wheels attached to two DC motors , the LSMD9S1 IMU sensor and an H-bridge to drive each motor. A self-balancing robot is an inverted pendulum, which is a pendulum with its center of mass above the pivot point. Balancing an inverted pendulum is a challenge, because it is inherently unstable. The slightest disturbance from equilibrium position results in a force away from equilibrium that further destabilizes the system. Therefore, keeping balance at an unstable equilibrium requires precise, low-latency control to instantly correct any errors in tilt the instant they happen.
Hardware Used
Mbed NXP LPC1768
IMU Sensor
H-Bridge
Spark Fun Shadow Chassis
DC Motors
Wheels
Software Used
Assembly
| IMU | mbed |
|---|---|
| SCL | p10 |
| SDA | p9 |
| Vdd | Vout |
| GND | Gnd |
| H Bridge Pin | mbed Pin |
|---|---|
| GND | Gnd |
| VCC | VO |
| VMOT | Vsupply |
| GND | Gnd |
| PWMA | p21 |
| AIN2 | p23 |
| AIN1 | p24 |
| STBY | Vout |
| BIN1 | p26 |
| BIN2 | p25 |
| PWMB | p22 |
| GND | Gnd |
Program
Demo
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