Hey everyone! Today we have an excellent open source project to show you, Wily made a very cool self-balancing robot controlled by a Wii Nunchuck! Before we continue talking about it please enjoy watching this video where he shows off his build while it’s chasing a cute pet:
As you see in the video above the robot’s feedback loop is well tuned and there is absolutely no visible oscillation used to keep its balance. To realize this project Wily used these parts that could be easily found:
- Arduino Uno R3
- Pololu 29:1 Metal Gearmotor 37Dx52L mm with 64 CPR Encoder
- Pololu Wheel 90x10mm
- Pololu Dual VNH5019 Motor Driver Shield for Arduino
- SparkFun IMU Analog Combo Board – 5 Degrees of Freedom IDG500/ADXL335
- Nyko Wireless Kama
And to give the robot that solid upright stance he used a PID library that was originally written by Brett Beauregard and he also used a complementary filter to estimate the tilt angle and rate from the IMU vertical and longitudinal accelerometers and tilt gyroscope.
Feel free to discuss in the comments thread.