BB-Zero Project is about balancing robot. It uses widely known techniques to calculate angle and output to make it balance
Robot uses complementary filter for reading values and PID regulator. The robot is able to interpret commands via bluetooth to change PID values the target of balance to make the robot move.
- STM32F407 DISCOVERY
- MPU6050 for reading angle of robot
- XM15B bluetooth module to communicate
- 2 wheels 65x26mm
- 2 motors - 5V, 80rpm
To get this program on your STM you need CooCox CoFlash or CooCox CoIDE environment where flash programming is included
Everything you need for compiling is CoIDE (available from link above) to compile code and send it to flash of STM
- Improve commands interpreter
- Android app to easily control the robot
- Better cover parts
MIT
Oskar Rutkowski, Patryk Mroczyński, Jakub Wiśniewski
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