I actually liked the wood on the old version :)) also I am planning on doing something like this and I have to say it's coool. So what components did you use ? The board, LiPo, gyroscope and accelerometer, stepper motors what else ? Wireless modules maybe ?? Oh yeah the drivers too
Heyy Sir,I want to buy aeroplane wheel but i didn't get the proper price for the wheels can you please suggest me from which website in india i can get at lower price.
I don't know any local hobby shops in India. I live in Sweden :) But the wheel size and type is not very critical. Buy what you can get, and it will probably work. Try to look at shops that sell RC planes, or maybe RC cars.
@@AxelsDIY Sure I will look for it and sir I also didn't get the NEMA 14 stepper motor, which other motor I can use instead of the NEMA 14 stepper motor.
@@dhairyapatel9324 Maybe you can use NEMA 17 instead? The most common size used in 3D printers. They won't fit my 3D printed parts, but I am sure you can Improvise together something.
can it go any faster? you did an incredible work on the balancing but it's kinda slow I saw other RUclipsrs robot that were fast. is there a trade of between speed and stability?
I do think it is harder to make a balancing robot that is both fast and very stable, but it can definitely be done. Keep in mind also, that a made this over 5 years ago. It's not very optimized either. I have made better balancing bots after this version also.
Was trying to study how you connect the raw power, I don't see how you connect the 5V to PCB, also you mention the jumper beneath the arduino, did you jump between the middle and the inner contact? Thank You!
My robot calibrates the gyro when switched on. It assumes that it is not moving, and saves the reading from the sensor. I have found that it is necessary since the readings from the gyro are dependant on ambient temperature. I don't calibrate the accelerometers at all, I just assume that the MPU6050 board is mounted flat.
Hard to say. But the LED should be flashing if the main-loop in the code is running. Maybe you have not programmed it successfully, or there is some kind of reset-problem with your processor/board.
Your design is perfect. You can add on other features. But most important thing is to avoid a top heavy design, and not to overstress the control mechanism.
I think you will find that these robots are made top heavy on purpose. Try it yourself. Take a light bamboo stick and balance it on your hand stretched in front of you. Now attach a heavy piece of wood or plastic on one side but a few centimeters away from the end. Compare balancing the stick with the wood near the top with balancing it with the wood near the bottom.
Top-heavy is easier for the control algorithm. Although the inertia of the robot is indeed larger, and thus require more load from the motor, it gives the robot more timespan to execute it's control objective. Avoiding top heavy is only important for car that are inherently stable (due to their four wheels)...
@@dozog I feel a bit smug because I worked this out for myself before seeing this. Could it be simply explained that it reduces the resonant frequency of the structure, which in turn requires a slower rate of error commands? [Brn] Sorry only just read your post, which seems to confirm this.
Hey Axbri! I'm trying to tune the Angle / Speed PID values and I'm having some trouble. The robot keeps trying to accelerate and move forward. For some reason I can't tune it to a point where it's absolutely stable with no movement. What method did you use to tune both PIDs? Any help would be appreciated, thank you!
Check my website here: axelsdiy.brinkeby.se/?page_id=1447 Scroll down a bit to the part about control theory for information on how I tuned it. Also, make sure that the center of gravity is in the right place, if the robot is very fornt heavy it will need to move a large dirstance forward before it comes to a stop, even when perfectly tuned
Do you mean the cost? Since I have my own homebuilt 3D printer, and all the parts are very small and lightweight, it is very cheap. About 1 or 2 dollars for all the parts. If you mean the time: it took me about 5 to 10 hours to design all the parts and maybe around 20 hours to print them.
Yes. You can use the more common NEMA 17 or any other stepper motor size you like. You will need to experiment and find other PID-parameters in the code to make your robot balance steadily. The PID values depend a lot on the size and weight distribution of the robot.
You need to experiment. I don't have a good guide on how to tune PID controllers, but I am sure you can find that if you search around. it is just a matter of trial and error.
Great Job Bro ! When I compiled the program arduino, I got this error : " MiniStepperMotorBalancingRobot:86: error: 'TCCR3A' was not declared in this scope TCCR3A = 0; // Timer1 CTC mode 4, OCxA,B outputs disconnected ^ MiniStepperMotorBalancingRobot:87: error: 'TCCR3B' was not declared in this scope TCCR3B = (1
You can only compile the code for the Arduino Pro Micro. It is not an official Arduino board. Its made by Sparkfun. You first need to add it in the Arduino IDE, and then select it before you try to build the code. Google Arduino Pro Micro if you want to know more. Sparkfun has a lot of info about how to install it and use it.
good that you got it working. There is no controller. It is just making random movements. In another video, I have this robot running around using sensors to turn away from obstacles. I have not implemented any remote control.
I actually liked the wood on the old version :)) also I am planning on doing something like this and I have to say it's coool. So what components did you use ? The board, LiPo, gyroscope and accelerometer, stepper motors what else ? Wireless modules maybe ?? Oh yeah the drivers too
Heyy Sir,I want to buy aeroplane wheel but i didn't get the proper price for the wheels can you please suggest me from which website in india i can get at lower price.
I don't know any local hobby shops in India. I live in Sweden :) But the wheel size and type is not very critical. Buy what you can get, and it will probably work. Try to look at shops that sell RC planes, or maybe RC cars.
@@AxelsDIY Sure I will look for it and sir I also didn't get the NEMA 14 stepper motor, which other motor I can use instead of the NEMA 14 stepper motor.
@@dhairyapatel9324 Maybe you can use NEMA 17 instead? The most common size used in 3D printers. They won't fit my 3D printed parts, but I am sure you can Improvise together something.
@@AxelsDIY ya sure thank you for the help 🥂
Awesome, very nice project! Thank you for sharing! :)
can it go any faster? you did an incredible work on the balancing but it's kinda slow I saw other RUclipsrs robot that were fast. is there a trade of between speed and stability?
I do think it is harder to make a balancing robot that is both fast and very stable, but it can definitely be done. Keep in mind also, that a made this over 5 years ago. It's not very optimized either. I have made better balancing bots after this version also.
Was trying to study how you connect the raw power, I don't see how you connect the 5V to PCB, also you mention the jumper beneath the arduino, did you jump between the middle and the inner contact? Thank You!
good job sir
Awesome...
I suppose it's necesary to calibrate the MPU-6050 when making one similar robot to yours?
My robot calibrates the gyro when switched on. It assumes that it is not moving, and saves the reading from the sensor. I have found that it is necessary since the readings from the gyro are dependant on ambient temperature. I don't calibrate the accelerometers at all, I just assume that the MPU6050 board is mounted flat.
What are the dimensions of nema14? 35x28 10v or 35x26 7.4v.
SUPER
I could only hear one beep when powered on. LED isn't on, and motors won't move. Do you know what could be the problem?
Hard to say. But the LED should be flashing if the main-loop in the code is running. Maybe you have not programmed it successfully, or there is some kind of reset-problem with your processor/board.
Handy did you ever resolve your issue?
Your design is perfect. You can add on other features. But most important thing is to avoid a top heavy design, and not to overstress the control mechanism.
"avoid a top heavy design" ? The the heavy part, the batteries, are already on top. What did you mean.
He means no weight on top of the robot. So move the batteries. This will give a more stable robot and it will not 'stress' that much anymore.
I think you will find that these robots are made top heavy on purpose.
Try it yourself. Take a light bamboo stick and balance it on your hand stretched in front of you.
Now attach a heavy piece of wood or plastic on one side but a few centimeters away from the end. Compare balancing the stick with the wood near the top with balancing it with the wood near the bottom.
Top-heavy is easier for the control algorithm. Although the inertia of the robot is indeed larger, and thus require more load from the motor, it gives the robot more timespan to execute it's control objective.
Avoiding top heavy is only important for car that are inherently stable (due to their four wheels)...
@@dozog I feel a bit smug because I worked this out for myself before seeing this. Could it be simply explained that it reduces the resonant frequency of the structure, which in turn requires a slower rate of error commands? [Brn] Sorry only just read your post, which seems to confirm this.
Hey Axbri! I'm trying to tune the Angle / Speed PID values and I'm having some trouble. The robot keeps trying to accelerate and move forward. For some reason I can't tune it to a point where it's absolutely stable with no movement. What method did you use to tune both PIDs? Any help would be appreciated, thank you!
Check my website here: axelsdiy.brinkeby.se/?page_id=1447 Scroll down a bit to the part about control theory for information on how I tuned it. Also, make sure that the center of gravity is in the right place, if the robot is very fornt heavy it will need to move a large dirstance forward before it comes to a stop, even when perfectly tuned
Nice 3d print quality... What's IMU inside?
MPU-6050. Read more about it on my website, link in the video description.
How much does it work ? I saw it has 600 mAh.
The robot can balance for about 20 minutes on one charge. But that battery is very old, it probably has more like 400 mAh in actual usable capacity.
Are those stepper motors or regular DC motors?
Stepper motors. NEMA 14 size.
Can I control it in ez gui app????
No. I have not implemented remote control. It can probably be done by adding some kind of radio/WiFi module and a few lines of code tough...
how much did you spent on the 3D Printing?
Do you mean the cost? Since I have my own homebuilt 3D printer, and all the parts are very small and lightweight, it is very cheap. About 1 or 2 dollars for all the parts. If you mean the time: it took me about 5 to 10 hours to design all the parts and maybe around 20 hours to print them.
Thanks :) i'd like to make a project based on yours, Can I use different motor aside from NEMA 14 stepper motors?
Yes. You can use the more common NEMA 17 or any other stepper motor size you like. You will need to experiment and find other PID-parameters in the code to make your robot balance steadily. The PID values depend a lot on the size and weight distribution of the robot.
Glad to hear that. I'm just a beginner, how can I have a faster way on knowing this PID parameters?
You need to experiment. I don't have a good guide on how to tune PID controllers, but I am sure you can find that if you search around. it is just a matter of trial and error.
Great Job Bro !
When I compiled the program arduino, I got this error :
"
MiniStepperMotorBalancingRobot:86: error: 'TCCR3A' was not declared in this scope
TCCR3A = 0; // Timer1 CTC mode 4, OCxA,B outputs disconnected
^
MiniStepperMotorBalancingRobot:87: error: 'TCCR3B' was not declared in this scope
TCCR3B = (1
You can only compile the code for the Arduino Pro Micro. It is not an official Arduino board. Its made by Sparkfun. You first need to add it in the Arduino IDE, and then select it before you try to build the code. Google Arduino Pro Micro if you want to know more. Sparkfun has a lot of info about how to install it and use it.
Ok thanks Bro @@AxelsDIY
Can I bought one (Arduino Pro Micro) have a link to buy it ? :)
Thanks a lot :)
Awesome !
I select the "Arduino Pro Micro" in boards of arduino IDE and the complication got succeed !
Thanks Man, you're awsome !
Another question (sorry ^_^)
What about the controller , are use an Android application ?
good that you got it working. There is no controller. It is just making random movements. In another video, I have this robot running around using sensors to turn away from obstacles. I have not implemented any remote control.
(y)