Arduino-Self-Balancing-Robot

Self balancing robot using the Arduino and an LSM9DSO 9 degrees of freedom sensor

Synopsis

This sketch demonstrates a self-balancing robot.

Theory of Operation

Hardware

The following hardware is used in the design:

• The Motor Shield (motor drive interface) is the SMAKN dual motor driver.
• The Sensor is the LSM9DSO 9 degrees of freedom sensor. 3 axis acceleration, three axis gyroscope, 3 axis magnetic field, and temp sensor.
• The Rotary Encoder is a KY-040.
• The switch is a SPST pushbutton.
• The display is a 128x32 OLED display.
• The motors are 12V motors <TODO: part number>.
• Wheels are Pololu <TODO: size and part number>.
• The processor is an Arduino Nano.
• The battery is a <TODO: description and part number>.

API

Several key libraries are used:

• 9DOF Sensor found at: https://github.com/adafruit/Adafruit_LSM9DS0_Library
• OLED Display found at: https://github.com/adafruit/Adafruit_SSD1306
• Graphic library found at: https://github.com/adafruit/Adafruit-GFX-Library
• Kalman found at: https://github.com/TKJElectronics/KalmanFilter
• PID_V1 found at: https://github.com/br3ttb/Arduino-PID-Library
• KY-040 found at: https://github.com/Billwilliams1952/KY-040-Encoder-Library---Arduino
• LPF found at: https://github.com/Billwilliams1952/Low-Pass-Filter