Our project is a self-balancing robot.
Equipment we used:
- STM32F303K8T6 microcontroller
- MPU6050 gyro
- LM2596 step-down power supply module
- TB6612FNG dual channel motor driver
- TT motors 6V 1:48
- 2S1P pack made by 18650 4,2V batteries - full voltage is going to motors, for microcontroller is reduced to 5V
- Project is built using the PlatformIO (3.6.7). Based on the Arduino framework.
- Language C++
- I2C Device Library
- Install PlatformIO IDE
- Set up PlatformIO project for ST Nucleo F303K8 and Arduino Framework
- check your
platformoi.ini
and add missing lines
[env:nucleo_f303k8]
platform = ststm32
lib_extra_dirs = ~/Documents/Arduino/libraries
board = nucleo_f303k8
framework = arduino
board_build.mcu = stm32f303k8t6
board_build.f_cpu = 72000000L
- Add this libs to
lib
folder in project root - Build and upload to board
- Make sure your robot stands in balance, or using some kind of base
Definetely buy better motors
- Jeff Rowberg - creator of I2Cdevlib
MIT License
The project was conducted during the Microprocessor Lab course held by the Institute of Control and Information Engineering, Poznan University of Technology. Supervisor: Tomasz Mańkowski