Tag Archives: balance

Balancing Robot, featured1, Linux, Raspberry Pi

PiBBOT V2 – Balancing Robot using a Raspberry Pi

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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 20x4 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.
    • 1x4 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

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    Balancing Robot, Linux, Raspberry Pi

    Success with a Balancing Robot using a Raspberry Pi

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    I have had success with getting PiBBOT to balance.

     

     

     

    When I saw my first two wheel balancing robot I was very fascinated.  And after receiving my Raspberry Pi, I decided to build one myself.
    PiBBOT (Pi Balancing roBOT) is my first successful balancing robot. And it has room for improvement and extra functionality.

    When building PiBBOT, I had a few roadblocks I needed to overcome;

    1. I originally had the Anker as the power source for both Pi and the motors, however the amperage was too low.
    2. Original H-Bridge not powerful enough for my motors
    3. Gyro calculation off by 15 degrees


    The TFT displays the angles from the accelerometer, gyro, complementary filter and power to the motors.
    The buttons are to turn the motors on and off and to reset the gyro.

    BerryIMU Raspberry Pi Gyroscope Accelerometer

    What next?

    • Incorporate the wheel encoders for better balance
    • Build a sturdier frame
    • Implement direction control
    • The able to self right itself after falling over
    • Room mapping
    • Retrieve a can of beer from the fridge
    PiBBOTPiBBOT TFTMotor Controller
    PiBBOT TFTPiBBOTPiBBOT TFT


    PiBBOT consists of these components;
    Adafruit:
    TFT; 2.2" 18-bit color TFT LCD display
    RF Receiver :RF M4 Receiver - 315MHz

    Pololu;
    Motors;  9.7:1 Metal Gearmotor 25Dx48L mm with 48 CPR Encoder
    Wheels; Pololu Wheel 90x10mm
    IMU; MinIMU-9 v2 Gyro, Accelerometer, and Compass (L3GD20 and LSM303DLHC).

    Anker;
    Battery; Anker® Astro3 10000mAh  5V / 9V / 12V 2A Dual USB Output External Battery

    Tenergy;
    Battery; 7.2V Tenergy 3800mAh Flat NiMH High Power
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    Balancing Robot, Linux, Raspberry Pi

    PiBBot – Robotic Project – Phase 2 – Prototype

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    Here is my first attempt at getting PiBBot balanced.

    This is a very early prototype, confirming that all the hardware works and the I can get the time of the main loop down to 20ms, which was easy.
    This prototype also helped me get my head around the code and math need to balance.

     

     

    I am waiting on the delivery of some hardware to build my final and larger version.  Which will have a battery pack placed up high, this will help a lot with the balancing.

    1stBalance2

     

    The main components used to balance this prototype;

    • MinIMU-9 v2 Gyro, Accelerometer, and Compass (L3GD20 and LSM303DLHC Carrier)
    • Solarbotics GM6 120:1 Mini Gear Motor Offset Output
    • Dual H-Bridge Motor Driver
    • 315MHz RF M4 Receiver
    • 12v battery

    The receiver allowed my to change the PID values in real time.

    There is also a lot of other components on the breadboard, but they are not needed to balance. Eg TFT, 8x8Matrix, Temp monitor...



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