Super Ultra Balance Bot 9000
Page last updated 01 Nov 2016, by 
Neil Hardy.
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replies
Neil Hardy.
0
replies
Overview
This two-wheeled rover is designed to balance and stay upright even on tilted surfaces. It runs on 4 AA batteries and uses a dual H-Bridge to control the wheel motors. Feedback control balancing is implemented using data gathered from Hall effect encoders and an LSM9DS1 IMU
Members
- Neil Hardy
- Madeleyne Vaca
Parts
- Dual H-Bridge
- LSM9DS1 IMU
- 4 AA batteries with pack
- barrel connector
- 2 DC motors
- Encoder kit
Wiring
| mbed | LSM9DS1 |
|---|---|
| p27 | SDA |
| p26 | SCL |
| VDD | VOUT |
| GND | GND |
| mbed | Dual H-Bridge | Left Motor | Right Motor |
|---|---|---|---|
| p22 | PWMA | - | - |
| p20 | AIN2 | - | - |
| p19 | AIN1 | - | - |
| p16 | ^/STBY | - | - |
| p18 | BIN1 | - | - |
| p17 | BIN2 | - | - |
| p21 | PWMB | - | - |
| VOUT | VCC | - | - |
| VU | VMOT | - | - |
| GND | GND | - | - |
| - | AO1 | pos | - |
| - | AO2 | neg | - |
| - | BO1 | - | pos |
| - | BO2 | - | neg |
| mbed | Left Encoder | Right Encoder |
|---|---|---|
| VOUT | pwr+(red) | pwr+(red) |
| GND | pwr-(black) | pwr-(black) |
| p15 | data (white) | - |
| p16 | - | data (white) |
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