Self balancing robot

Robots purpose is to simply try to keep itself up. When pushed, it will also slow down the gained speed.

PID controller for this project can be found here

Parts

Required:

• 1x Arduino Nano
• 2x DRV8825 Stepper motor driver
• 2x Nema 17 Stepper motor
• 1x MPU6050 Gyroscope / accelerometer
• 1x Stepdown voltage regulator
• 2x 100uF 50V Capacitor for DRV8825 to eliminate IC voltage spikes
• 1x 11.1V 2100mAh Li-Po battery
• 2x Tires
• 1x Frame

Optional:

• 1x RGB LED
• 2x 220 ohm resistor for the LED
• 2x Buttons for PID adjustment / mode changing / whatever

Pins

• D2 to left motor pulse
• D3 to left motor direction
• D4 to right motor pulse
• D5 to right motor direction
• D8 to RGB LED green pin
• D9 to RGB LED red pin
• D11 to button 1
• D12 to button 2

Click image for video