Difference between revisions of "Open Source Self-balance Robot System"

Overview

• Project: Microduino Open Source Self-balance Robot
• Objective: To DIY your own two-wheel self-balance robot.
• Difficulty: Medium
• Time-consuming: 2-Hour
• Maker:
• Introduction:
  • This two-wheel self-balance robot integrates multiple functions. It is also the study topic that combines automatic control theory, dynamics theory and technology.
  • It can accomplish self-balance and also support several ways of remote control.
    • Remotely controlled by Joypad.
    • Remotely controlled by Bluetooth APP.
  • This project is totally achieved with Microduino. Users can experience the fun of DIY.

Bill of Material

Bill of Modules (Joypad Mode)

Bill of Modules (Bluetooth Mode)

Other Material

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Program Download

Download source programs from the address below: BalanceCar_Microduino

Programming

• Stack Microduino-Core+ and Microduino-USBTTL together.
  • Connect Microduino-USBTTL/zh with a USB cable for program uploading after that.
  • Attetnion: Please upload the program before stacking all modules.
• Open Arduino IDE for Microduino environment. (For the buildup, please refer to: AVR Core：Getting started)
• Click【Tool】, select the right board card(Microduino-Core+) and the processor(Atmega644pa@16M,5V) and chose the corresponding port COMX.
• Click 【File】->【Open】, scan to the project program address, click “BalanceCar_Microduino.ino” and open it.
• After all that finished, please click "→" and download programs the development board.

Buildup Steps

• Step1:
• Connect Structure-A1 and Structure-A2 as shown in Figure1-1.

• Insert Structure-B1 and Structure-B2 into the two sides of Structure-A1.

• After "Step 1", you just completed the buildup of Frame of the robot

• Step2:
• Follow the Figure 2-1, connect the two stepping motors and Structure-C1, then fixate them with Copper columns .
  • Please be noted the direction of the motor interface. The interfaces of the two motors should be installed symmetrically.

• You just finished the installation of Motor parts .

• Step3:
• Follow the Figure 3-1, insert the Motor parts to the Frame of the robot. Please be noted the motor interface needs to correspond to the gap of the Frame of the robot.

• After that, please insert the Structure-B1 into the slot gap to make sure the Motor parts are fixated firmly.

• You just finished the assembly of the Chassis of the robot

• Step4:
• Fixate the Axis connector on the axis of the Stepping motor as shown in the Figure 4-1.
• Then fixate the Wheels on the Axis connector with Screws.

• See the result of that in Figure 4-2.

• Step5:
• Follow the Figure 5-1 and put the 2S battery into the slot of the Chassis of the robot .
• Then, fixate Structure-C2 and Structure -C3 on the upper and lower sides of the Chassis of the robot respectively.

• Refer to the following Figure 5-2, use Structure-A3, Structure-C4 and Structure-C5 to fixate the structure of the robot.

• Check out the result here:

• Step6:
• Fixate theMicroduino-Stepper with nylon screws, nylon columns and nylon nuts on the top of the Chassis of the robot.
  • Note: Please refer to the installation procedure strictly as shown in the picture to assemble the base board of Microduino-Stepper.
• Then stack the following modules on the base of Microduino-Stepper.
  • Core Module: Microduino-Core+
  • Attitude Module: Microduino-Motion
  • Communication Module:
    • Under Joypad mode, the communication module is Microduino-nRF24（Please firstly install 2.4G antenna）
    • Under BLE mode, the communication module is Microduino-BT

• Connect the Stepping motor to Microduino-Stepper with Stepper cable .
  • Please be noted of the interface position of the two Stepper cables.

• Note: Please be noted of the installation direction when connecting the stepper cables.

• Step7:
• Insert 2S battery into the battery interface of Microduino-Stepper, and the robot is powered on. Lift the robot and it'll stay stand up and keep balance.

Operation Description

• If stacking nRF24 module in Step6, the robot will enter Joypad remote control mode by default after power-on, or it'll enter BLE mode.

Joypad Remote Control Instructions

• Refer to the link for the buildup: Joypad User Guide

• Joypad Communication Mode Configuration*
• For the mode configuration, you can refer to: #.E9.80.9A.E8.AE.AF.E6.A8.A1.E5.BC.8F Communication Mode Configuration
  • When we use Microduino-nRF24 as the Communication module, for the Joypad, you can choose nRF mode.
• Joypad Battery Use*
• Battery Use Instruction

BLE Control Guide

• Download the BLUE remote control (Android) here: File:MTank.rar
• Make sure the phone is Android 4.3 or higher. and the Bluetooth function is open.
• Search the Bluetooth device “Microduino” and connect.
• Then, you can control via the APP.

Lithium Battery Charging

• If you find the motor rotates slowly during use or the self-balance robot can't stand up. At this time, the 2S battery is under low battery, which needs to use the supporting lithium battery balance charger.
• Follow the picture below and insert the white 3pin interface of the 2S battery into the 3pin interface of the Lithium battery balance charger and plug in the power.

• You can judge the charging state by the indicator of the Lithium battery balance charger as follows:

Code Description

• "userDef.h" is the config. file.
• The code below can configure the channel under the nRF mode, which needs to be consistent with the Joypad controller.
• For the nRF mode channel of the Joypad, you can refer to: nRF Mode Channel Configuration

#define NRF_CHANNEL 70  //nRF channel

• You can the installation direction of the Microduino-Motion with the following code.
  • Refer to Buildup Steps / Step6 for installation direction. Microduino-Motion module need to choose PITCH direction.

#define YAW    0
#define PITCH   1
#define ROLL    2
//Attitude sensor installation direction.  
#define DIRECTION   PITCH

• The following code can adjust the PID parameters of the self-balance robot's angle ring and speed ring.
  • Angle ring parameter setup:　

#define KP_CON 0.2 // 0.25
#define KI_CON 0        
#define KD_CON 28  // 30 28 26

• • Speed ring parameter setup:

#define KP_THR 0.065  //0.08//0.065
#define KI_THR 0.0005//0.05
#define KD_THR 0

FAQ

• Q:What if the self-balance robot can't stand up during use?
  • A:Please refer to the following picture to judge if the Microduino-Stepper module is installed right and the Stepper cable is connected correctly.

• Q:What if you find the robot tilt to one side over the course and hear abnormal sound generated by the Stepping motor ?
  • A:At this time, you can toggle the robot to the other side and it'll stand up and go back to normal instantly.

Video