2-Wheel Balancing Robot

Hardwares Resources

• 1 STM32F4 Microcontroller development board (ARM Cortex M4)
  • 2 PWM channels
  • 4 timer interrupts
  • 2 external event interrupts
  • 1 SPI channel
  • 1 UART channel
• 2 DC motors with PWM control
  • 1 motor to control 1 wheel (left and right)
• 2 infrared encoder
  • 1 infrared encoder to measure the speed and position of each wheel
• 1 MPU-6050 Gyroscope
  • 10-axis gyroscope
  • Interface with the microcontroller through SPI
• 1 Xbox360 Controller
  • Interface with Microcontroller through a wireless module

Features

• PID Controller for balancing
  • Implemented in the ARM CPU
  • Realtime response to different weight load with 2 nested loop PID algorithm
  • Input data:
    • From 10 different gyroscope channels
    • Form 2 wheel encoders
  • Output: PWM signals to control wheel movement and balance the robot
• Kalman filter
  • To eliminate Input noises from input data

Demo

• Movements
• Heavy-weight payload test

How to run

• Use ARM Keil IDE to build and compile project files into .bin object
• Use the built-in debugger to load the object file into the chip ROM