Tag Archives: technology

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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Linux, Raspberry Pi

Raspberry Pi, 1.8″ TFT, RF Receiver and Temperature Sensor

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Below is some detail regarding the latest project I have been working on. Which is near completion.
I plan to wire it up permanently, place within a case and wall mount it.

 

 

Some of the images don't come up too great in the video, I have included the actual images used here;

Temp12 hour GraphGraph
TextText

I created a simple one line bash script that polls for the temperature every 5 mins.

The main python program uses pygame to write to the TFT via a framebuffer and Matplotlib is used to create the Graphs.
The display can be changed by either the button on the breadboard or via the remote FOB.

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