https://github.com/heethesh/balance-bot

A two-wheel self-balancing robot based on the ATmega2560 micro-controller.
https://github.com/heethesh/balance-bot

accelerometer arduino balance encoder gyroscope imu l298n mega robot robotics robotics-competition

Last synced: 2 months ago
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A two-wheel self-balancing robot based on the ATmega2560 micro-controller.

• Host: GitHub
• URL: https://github.com/heethesh/balance-bot
• Owner: heethesh
• License: mit
• Created: 2017-05-04T22:54:13.000Z (about 8 years ago)
• Default Branch: master
• Last Pushed: 2018-01-28T14:38:34.000Z (over 7 years ago)
• Last Synced: 2025-03-29T09:32:58.278Z (3 months ago)
• Topics: accelerometer, arduino, balance, encoder, gyroscope, imu, l298n, mega, robot, robotics, robotics-competition
• Language: C++
• Homepage: https://youtu.be/-k-lZ_CcU4U
• Size: 19.3 MB
• Stars: 48
• Watchers: 5
• Forks: 18
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Balance Bot

A two-wheel self-balancing robot, based on the ATmega2560 micro-controller, which uses a Cascaded PID control architecture. Four PID controllers are implemented to control the position, velocity, rotation (measured using Quadrature Encoders) and the tilt angle (measured using GY80 Sensor) of the robot. 

## Video Demonstration

[Balance Bot Video Demonstration](https://youtu.be/-k-lZ_CcU4U)  

[eYRC 2016 - Balance Bot Theme Finals](https://www.youtube.com/watch?v=ncqQBZ67XNE&t=7s)  

Team ID: **eYRC-BB#2403** | 

First prize winner at National Level e-Yantra Robotics Competition 2016-17 conducted by e-Yantra, CSE Department, IIT Bombay, sponsored by MHRD, Government of India

## Repository Contents

- **code** - The entire firmware with all the libraries

- **datasheets** - Contains all the datasheets and references

- **images** - Images of the robot and the joystick controller

- **report** - Documentation on the working of the robot and all the task submissions

- **schematics** - Hardware schematic of the robot and the joystick controller

## Balance Bot

![](https://github.com/heethesh/Balance-Bot/blob/master/images/Balance%20Bot%20Components.jpg)

## Wireless Joystick Controller

![](https://github.com/heethesh/Balance-Bot/blob/master/images/Wireless%20Joystick%20Controller.jpg)

## Control Architecture

![](https://github.com/heethesh/Balance-Bot/blob/master/images/Cascaded%20PID%20Block%20Diagram.png)