/Self-balancing-bot

A two-wheeled remote control self-balancing robot based on the ATmega2560 microcontroller.

Primary LanguageC++

Objective

The objective is to make a remote control robot capable of balancing itself using Linear Quadratic Regulator (LQR) Control.

Components

  • Arduino Mega
  • MPU 6050 (Accelerometer + Gyroscope)
  • DC Motors with quadrature encoders
  • Xbee Module
  • Motor Driver (L298N)
  • 12V Lipo Battery
  • Chassis
  • Breadboard
  • Wheels

3D Model of Chassis

  • 3D Modelling of the robot is done in the solidworks, and those files are available in 3D Model folder.

Mathematical Model

  • Derivations are given in the folder Mathematical Model.

  • State-Space Equation

Control Architecture

  • Filter

Code Structure

main.ino

  • This is the file in which code for controlling Arduino Mega is written.

Encoders

  • In these files, class of encoders is defined.
  • X4 encoding is used.

Motor

  • In these files, class of motor is defined.
  • Encoder is a inner class of motor.

TimerInterruptsLib

  • Timers 3, 4, and 5 are initialized in this library.

RCModule

  • In this files, class of Xbee is defined.

Octave

  • In this files, dicrete state-space model of robot is calculated from its continuous state-space model.
  • State variables are simulated from given Q and R matrix.

Requirements

  • Arduino IDE

    • digitalWriteFast.h
    • MPU6050
    • MPULib
    • I2C
    • I2Cdev

  • Octave

    • "control" package