vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments

This repo contains the experiments I'm conducting while building a self balancing robot called Sukuma SBR. Sukuma means "stand up" in Zulu.

Sukuma SBR - Self Balancing Robot Experiments

Build in progress...

Sukuma means "stand up" in Zulu. This project is a way for me to learn and practically implement the following electronic components and concepts:

• Bipolar stepper motors
• Unipolar stepper motors
• MPU6050 IMU (Gyroscope and Accelerometer)
• PID Control
• Arduino Interrupts
• Using millis() instead of delay()

Experiments

• Exp_01 - Test 28BYJ-48 unipolar stepper motor
  https://github.com/vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments/tree/main/Exp_01-test-28BYJ48-stepper-motor

• Exp_02 - Run two 28BYJ-48 unipolar stepper motors
  https://github.com/vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments/tree/main/Exp_02-run-two-28BYJ48-stepper-motors
  

• Exp_03 - Test MPU6050 IMU and get gyyroscope and accelerometer data via I2C
  https://github.com/vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments/tree/main/Exp_03-test-MPU6050-IMU

• Exp_04 - Calculate angles using gyroscope and accelerometer data (MPU6050) [Failed Experiment]
  https://github.com/vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments/tree/main/Exp_04-calculate-angles-using-gyro-and-accel-data

• Exp_05 - Test the HC-SR04 distance sensor with the NewPing library
  https://github.com/vbookshelf/Sukuma-SBR-Self-Balancing-Robot-Experiments/tree/main/Exp_05-test-ultrasonic-distance-sensor-with-newping-library