Self Balance arduino robot. Control via Smartphone. Fully 3D printed project.
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JJulio TouchOSC layout
TouchOSC layout to control B-ROBOT
Latest commit 39b6990 Jun 6, 2014
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B_ROBOT Main arduino code Oct 21, 2013
OpenSCAD_3DParts OpenSCAD 3D Parts for printing Oct 21, 2013
TouchOSC TouchOSC layout Jun 5, 2014
libraries MPU6050 library from Oct 21, 2013
LICENSE Initial commit Oct 21, 2013 Update Oct 29, 2013


Self Balancing arduino robot. Control via Smartphone. Fully 3D printed project.



Board: custom board (WITA): It´s an Arduino Leonardo + Wifi module (RN131)

Motors: NEMA17 Stepper Motors

Drivers: A4988 with 1/8 microstepping configuration

IMU: MPU6050 connected via I2C bus. We are using the DMP internal quaternion solution at 200Hz

Sonar sensor: LV-MaxSonar-EZ3.

Control algorithms: PI speed control driving a PD control for stability (control robot angle). The output of the stability control is a motor speed that is integrated (acceleration).

Wifi module : RN131 module in Soft AP mode, so you don´t need an existing Wifi network, the module generates it´s own network that you need to join with your smatphone

Communication protocol: OSC protocol (this is an open music protocol). It´s an UDP messages based protocol. You could find many applications that implement this protocol. I recommend TouchOSC because you could create your own interfaces.

Modes: Manual mode with external Wifi control via OSC protocol (Smartphone/Tablet...) Autonomous mode. It uses the sonar sensor for obstacle avoiding. When the robot detects an obstacle it starts turning until it finds an empty space and continue.