Project tutorial
Arduino Self-balancing Robot

Arduino Self-balancing Robot © CC BY-NC

A self-balancing robot using Arduino Nano and MPU6050.

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Components and supplies

About this project

The bot is kept balanced through the correction provided by the wheels which goes against the direction of fall. The current orientation of the bot is monitored by the MPU6050. The orientation is constantly compared to a desired orientation through a PID loop. The bot is steady when the loop output is zero (the current orientation is equal to the desired orientation).

I used Jeff Rowberg's MPU6050 library and modified the MPU6050_DMP6.ino file provided in his Github page. For PID, I used the PID_V1 library by Brett Beauregard. The motor control using the L298N driver is made easy using the LMotorController library.

Code

Arduino Self-balancing Robot
Code/sketch for self-balancing robot for Arduino Nano R3

Schematics

Arduino Self-balancing Robot
wiring diagram
Self balancing robot bb uyhtf8xi31
Arduino Self-balancing Robot Fritzing
self balancing robot fritzing file
self-balancing-robot_QVvgxBSiIO.fzz

Comments

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