Self Balancing Triangle Robot | Balancing Inverted Triangle

This is the triangle. Which will try to balance itself. With the help of all the sensors & actuators on-board. It is an Inverted Triangle.

Mar 20, 2022

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Components and supplies

Jumper wires (generic)

9V 1A Switching Wall Power Supply

Ultrasonic Sensor - HC-SR04 (Generic)

SG90 Micro-servo motor

Breadboard (generic)

Arduino UNO

Tools and machines

Scissor, Electrician

Apps and platforms

Arduino IDE

Project description

Code

Code For Self Balancing Robot Triangle

arduino

1#include <Servo.h>
2Servo m;
3
4int t = 6;
5int e=  7;
6double   d,dp=0;
7
8void setup() {
9
10  pinMode(t, OUTPUT);  //trigger pin
11  pinMode(e,   INPUT);  //echo pin
12  m.attach(3);       // motor at pin 3
13
14}
15
16int   distance(){
17  
18  long duration, cm;
19  
20  digitalWrite(t, LOW);
21  delayMicroseconds(2);
22   digitalWrite(t, HIGH);
23  delayMicroseconds(5);
24  digitalWrite(t, LOW);  
25   duration = pulseIn(e, HIGH);
26
27
28  cm = duration/ 29 / 2;
29  
30  return   cm; //returns distance in centimeters
31}
32
33void loop() {
34
35  d = distance();
36   
37  if(d<18 && d>0){
38    m.write(180 - ((dp*0.95 + d*0.05)*10));
39    
40   }
41  
42  dp=d;
43  delay(25);
44}

#include <Servo.h>
Servo m;

int t = 6;
int e=  7;
double   d,dp=0;

void setup() {

  pinMode(t, OUTPUT);  //trigger pin
  pinMode(e,   INPUT);  //echo pin
  m.attach(3);       // motor at pin 3

}

int   distance(){
  
  long duration, cm;
  
  digitalWrite(t, LOW);
  delayMicroseconds(2);
   digitalWrite(t, HIGH);
  delayMicroseconds(5);
  digitalWrite(t, LOW);  
   duration = pulseIn(e, HIGH);


  cm = duration/ 29 / 2;
  
  return   cm; //returns distance in centimeters
}

void loop() {

  d = distance();
   
  if(d<18 && d>0){
    m.write(180 - ((dp*0.95 + d*0.05)*10));
    
   }
  
  dp=d;
  delay(25);
}

Code For Self Balancing Robot Triangle

arduino

1#include <Servo.h>
2Servo m;
3
4int t = 6;
5int e=  7;
6double  d,dp=0;
7
8void setup() {
9
10  pinMode(t, OUTPUT);  //trigger pin
11  pinMode(e,  INPUT);  //echo pin
12  m.attach(3);       // motor at pin 3
13
14}
15
16int  distance(){
17  
18  long duration, cm;
19  
20  digitalWrite(t, LOW);
21  delayMicroseconds(2);
22  digitalWrite(t, HIGH);
23  delayMicroseconds(5);
24  digitalWrite(t, LOW);  
25  duration = pulseIn(e, HIGH);
26
27
28  cm = duration/ 29 / 2;
29  
30  return  cm; //returns distance in centimeters
31}
32
33void loop() {
34
35  d = distance();
36  
37  if(d<18 && d>0){
38    m.write(180 - ((dp*0.95 + d*0.05)*10));
39    
40  }
41  
42  dp=d;
43  delay(25);
44}

#include <Servo.h>
Servo m;

int t = 6;
int e=  7;
double  d,dp=0;

void setup() {

  pinMode(t, OUTPUT);  //trigger pin
  pinMode(e,  INPUT);  //echo pin
  m.attach(3);       // motor at pin 3

}

int  distance(){
  
  long duration, cm;
  
  digitalWrite(t, LOW);
  delayMicroseconds(2);
  digitalWrite(t, HIGH);
  delayMicroseconds(5);
  digitalWrite(t, LOW);  
  duration = pulseIn(e, HIGH);


  cm = duration/ 29 / 2;
  
  return  cm; //returns distance in centimeters
}

void loop() {

  d = distance();
  
  if(d<18 && d>0){
    m.write(180 - ((dp*0.95 + d*0.05)*10));
    
  }
  
  dp=d;
  delay(25);
}

Downloadable files

Circuit Schematic Of Self Balancing Triangle Robot

Documentation

CAD Design For Self Balancing Triangle Robot

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