Bluetooth controlled self-balancing robot

The project was aimed at learning PID control for a future quadcopter flight controller without chopping my fingers off. The project was a simple two-wheeled robot which ran a PID control loop on the euler angle reported by the MPU-6050 mounted atop the frame.

The motors were controlled by the arduino through a motor driver. The refresh rate was 30Hz and motors spun to use the counter torque for stabilization. We added the functionality of being able to control its forward and backward motion using a command from the laptop. A HC-05 bluetooth module connected to my laptop was able to commander the robot to move forward, backward or stabilize in its position.

Contributor(s) :Mohit Upadhyay.

Video:- The video of the project can be found here.

Photos:-

 

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