https://github.com/billwilliams1952/arduino-self-balancing-robot
Self balancing robot using the Arduino and an LSM9DSO 9 degrees of freedom sensor
https://github.com/billwilliams1952/arduino-self-balancing-robot
6dof-robot-kinematics arduino motor robotics self-balancing-robot
Last synced: 4 months ago
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Self balancing robot using the Arduino and an LSM9DSO 9 degrees of freedom sensor
- Host: GitHub
- URL: https://github.com/billwilliams1952/arduino-self-balancing-robot
- Owner: Billwilliams1952
- License: gpl-3.0
- Created: 2016-11-27T19:00:15.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2017-09-30T03:41:49.000Z (about 8 years ago)
- Last Synced: 2025-04-05T19:41:27.331Z (6 months ago)
- Topics: 6dof-robot-kinematics, arduino, motor, robotics, self-balancing-robot
- Language: Arduino
- Homepage:
- Size: 26.4 KB
- Stars: 3
- Watchers: 2
- Forks: 2
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Arduino-Self-Balancing-Robot
Self balancing robot using the Arduino and an LSM9DSO 9 degrees of freedom sensor
## Synopsis
This sketch demonstrates a self-balancing robot.
## Theory of Operation
## Hardware
The following hardware is used in the design:
- The Motor Shield (motor drive interface) is the SMAKN dual motor driver.
- The Sensor is the LSM9DSO 9 degrees of freedom sensor. 3 axis acceleration, three axis gyroscope, 3 axis magnetic field, and temp sensor.
- The Rotary Encoder is a KY-040.
- The switch is a SPST pushbutton.
- The display is a 128x32 OLED display.
- The motors are 12V motors .
- Wheels are Pololu .
- The processor is an Arduino Nano.
- The battery is a .
## API
Several key libraries are used:
- 9DOF Sensor found at: https://github.com/adafruit/Adafruit_LSM9DS0_Library
- OLED Display found at: https://github.com/adafruit/Adafruit_SSD1306
- Graphic library found at: https://github.com/adafruit/Adafruit-GFX-Library
- Kalman found at: https://github.com/TKJElectronics/KalmanFilter
- PID_V1 found at: https://github.com/br3ttb/Arduino-PID-Library
- KY-040 found at: https://github.com/Billwilliams1952/KY-040-Encoder-Library---Arduino
- LPF found at: https://github.com/Billwilliams1952/Low-Pass-Filter