Introduction
This article is about a self-balancing bot, the Oreka Bot. This bot comprises mainly of 3 fundamental units, a sensor, a microcontroller and an actuator (motors in this case). The gravity on the bot is balanced by the two wheels preventing it from wobbling and aids in maintaining an upright posture.
The Working
The bot contains a gyroscope (sensor) which will read and input the angular coordinates. Information from the gyroscope is processed by the microcontroller.
These values will determine in which direction the wheels that are connected to the motors must turn inorder to prevent the bot from falling. The power for the motors are supplied from the batteries connected. The gyroscope values vary because in its vertical position, the bot will tend to fall in some direction. This will be prevented by the motors appropriately to maintain the upright posture. The extent to which the motor should turn is controlled by the PID controller. Potentiometers are used to tune the PID. The bot is controlled from a remote device like a PC or tablet through Bluetooth.
Acknowledgement
I thank PCBWay for the partnership and sponsoring PCBs of great quality.
PCBWay is one of the most experienced PCB manufacturers in China. They offer standard PCB prototypes, flexible PCBs , aluminum PCBs, Stencils. Additionally they offer assembly service. With prices as low as 5 USD for 10 PCBs, also you may interested in their gerber viewfunction.
Comments