PiBBOT V2 – Balancing Robot using a Raspberry Pi

I have spend the last month creating a new version of PiBBOT (Pi Balancing roBOT) , PiBBOT V2.

This version has a sturdier frame and a LCD display. I replaced the 1.8″ TFT with a LCD as the TFT was causing delays in the main loop timing. I also added a very slim battery for the Raspberry Pi.

Main components;

    • RGB backlight LCD 20×4 which shows gyro, accelerometer and complimentary filter angle.
    • Volt Meter to view condition of battery used for motors.
    • RF Receiver RF M4 Receiver – 315MHz. Used to tune PID and then control direction.
    • 1×4 Keypad to turn motors on/off and to reset the gyro.
    • Motors; 9.7:1 Metal Gearmotor 25Dx48L mm with 48 CPR Encoder
    • Wheels; Pololu Wheel 90x10mm
    • IMU; BerryIMU – An accelerometer, gyroscope, magnetometer and barometric/altitude sensor
    • Battery for Motors – 7.2V Tenergy 3800mAh Flat NiMH High Power (38A Drain Rate)
    • Battery for Rasperry Pi – Anker Astro Slim2 4500mAh Ultra-Slim Portable External Battery Charger Power Bank

PiBBOTv2breadboard PiBBOTv2bat1 PiBBOTv2bat2 PiBBOTv2

The code for this project can be found here;


BerryIMU Raspberry Pi Gyroscope Accelerometer
Take a look at two of my previous blog entries for more detail;

Success with a Balancing Robot using a Raspberry Pi
Guide to interfacing a Gyro and Accelerometer with a Raspberry Pi

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