Self-balancing Robot

Table of Contents

• Overview
• Description
• Tools
• How to use
• Future improvements
• Attributions
• License
• Credits

Overview

Our project is a self-balancing robot.

Description

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

Tools

• Project is built using the PlatformIO (3.6.7). Based on the Arduino framework.
• Language C++
• I2C Device Library

How to use

• 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
  • I2Cdev
  • MPU6050
• Build and upload to board
• Make sure your robot stands in balance, or using some kind of base

Future improvements

Definetely buy better motors

Attributions

• Jeff Rowberg - creator of I2Cdevlib

License

MIT License

Credits

• Bartłomiej Olszanowski
• Bartosz Porębski

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