{"id":25914540,"url":"https://github.com/nubbsterr/stewart","last_synced_at":"2026-04-13T00:35:51.251Z","repository":{"id":280174297,"uuid":"941169548","full_name":"nubbsterr/stewart","owner":"nubbsterr","description":"A self-balancing robot project developed at SproutHacks 2025.","archived":false,"fork":false,"pushed_at":"2025-03-06T18:48:26.000Z","size":73904,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-08-22T00:42:02.867Z","etag":null,"topics":["arduino","arduinoide","cpp","esp32","hackathon-project","pid-control","pid-controller","robotics"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"gpl-3.0","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/nubbsterr.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-03-01T16:51:57.000Z","updated_at":"2025-05-18T02:39:54.000Z","dependencies_parsed_at":"2025-03-01T19:23:05.431Z","dependency_job_id":"7a001242-bd0b-4b61-a12e-25f9466cd690","html_url":"https://github.com/nubbsterr/stewart","commit_stats":null,"previous_names":["nubbsterr/stewart"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/nubbsterr/stewart","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nubbsterr%2Fstewart","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nubbsterr%2Fstewart/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nubbsterr%2Fstewart/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nubbsterr%2Fstewart/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/nubbsterr","download_url":"https://codeload.github.com/nubbsterr/stewart/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/nubbsterr%2Fstewart/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273410261,"owners_count":25100450,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-03T02:00:09.631Z","response_time":76,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["arduino","arduinoide","cpp","esp32","hackathon-project","pid-control","pid-controller","robotics"],"created_at":"2025-03-03T11:28:28.931Z","updated_at":"2026-04-13T00:35:51.219Z","avatar_url":"https://github.com/nubbsterr.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# stewart\nA self-balancing robot project developed at SproutHacks 2025 over a total of ~12-13 hours.\n\n## Post SproutHacks Briefing\nStewart didn't win anything but he will forever live in my heart as a learning experience that I enjoyed nicely. \u003ca href=\"https://devpost.com/software/stewart?_gl=1*iwpoki*_gcl_au*MjEzNDczMTM5LjE3NDEyODY2ODU.*_ga*OTcxMzIyMjc4LjE3NDEyODY2ODY.*_ga_0YHJK3Y10M*MTc0MTI4NjY4NS4xLjEuMTc0MTI4NjY5MS4wLjAuMA..\"\u003eHere is the Devpost link to our project!\u003c/a\u003e\n\n## Project Info\n\u003cstrong\u003eStewart\u003c/strong\u003e is a self-balancing robot made using an ESP32 with a programmed \u003cstrong\u003ePID controller\u003c/strong\u003e, \u003cstrong\u003ea pizza box\u003c/strong\u003e for a base, and \u003cstrong\u003eLOADS of tape\u003c/strong\u003e.\n\n\u003cstrong\u003eMr. Stewwy\u003c/strong\u003e had a lot iterations throughout the build process. We nearly swapped over to an Arduino Uno R3 due to library functionality (over using Wire.h, which was a lil buggy and would've resulted in a lot of extra programming), but reading the documentation allowed us to avoid that and use the beloved \u003ca href=\"https://github.com/RobTillaart/GY521\"\u003eGY521.h library\u003c/a\u003e, which worked fantastically and allowed us to:\n\n- Calibrate the \u003cstrong\u003eMPU6050/Accelerometer and Gyroscope\u003c/strong\u003e we were using to attain accurate angle measurements for the PID.\n- Record and return data from the MPU6050 to get angle data.\n\nFrom there, it was a matter of calculating the PID value, which was then mapped as a speed value for the motors driving \u003cstrong\u003eMonsieur Stewart\u003c/strnog\u003e. It was a very careful dance to tune the PID; a lot of Stewart falling over on his face.\n\n## Technologies and Parts Used\n- Arduino IDE v2.3.4 for programming\n- GY521 library by RobTillaart\n- GitHub for version control (not massively needed but makes you feel smart)\n- ESP32-WROOM microcontroller\n- MPU6050 Accelerometer (there is in fact a gyroscope inside the accelerometer)\n- LN298 Motor Driver\n- Lots of MLH, Sprouthacks and GoDaddy stickers!\n- Plastic forks, paper plates, a domino's pizza box, a rubber band, lots of wires and alligator clips.\n- Generic Yellow Wheels\n- Yellow TT Motors\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnubbsterr%2Fstewart","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fnubbsterr%2Fstewart","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fnubbsterr%2Fstewart/lists"}