This robot represents an&nbsp;inverted pendulum where the robot is required to stay upright. If the robot gets pushed or a disturbance is added to the robot, the robot will try and correct it. This robot was made to help learn how a PID controller works as a feedback system, this balancing robot was made. The robots that were given to us to were large and used a&nbsp;potentiometer to&nbsp;sense the angle of the inverted pendulum.

This robot uses MPU5060 to&nbsp;sense the angle, an Arduino UNO to process the PID controller and an L293D to drive the motors. This is a basic feedback system but the main error correction is done within the Arduino ATMEGA328P. The program uses the Arduino PID Library by Brett Beauregard found <a href="https://github.com/br3ttb/Arduino-PID-Library/">here</a>. A potentiometer Arduino Shield (found <a href="https://github.com/tinkersprojects/Servo-and-Potentiometer-Arduino-Shield">here</a>) was used to control the gain and&nbsp;parameters of the PID on the fly, making it easy to set. 2 of the&nbsp;potentiometers were removed from the board to ensure the I2C bus on pins A4 and A5 could work without problems.

Servo and Potentiometer Arduino Shield found: <a href="https://github.com/tinkersprojects/Servo-and-Potentiometer-Arduino-Shield">https://github.com/tinkersprojects/Servo-and-Potentiometer-Arduino-Shield</a>
The PCB can be purchased from:&nbsp;<a href="https://tinkersprojects.com/product/servo-and-potentiometer-arduino-shield/">https://tinkersprojects.com/product/servo-and-potentiometer-arduino-shield/</a>
Arduino PID library: <a href="https://github.com/br3ttb/Arduino-PID-Library/">https://github.com/br3ttb/Arduino-PID-Library/</a>
Get the parts at:&nbsp;<a href="https://www.thingiverse.com/thing:2858039" rel="nofollow">https://www.thingiverse.com/thing:2858039</a>

Tinkers Projects

Tag: balancing

Balancing Robot