Diy self balancing robot arduino based.
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4 жыл бұрынJLCPCB Prototype for $2(Any Color): jlcpcb.com
Hello friends this post is about DIY self balancing robot in this post I'll show how you can build your own Self balancing robot.
I have use a custom made PCB, Arduno nano, MPU6050, A4988 driver, HC-05 bt module, MDF board and some hardware to build this self balancing robot,
detail material list you can found further in this post.
Balancingwii firmware and EZ-GUI android app is used in this project to control robot via Bluetooth connection.
For Complete project detail, code, circuit drawing visit
electricdiylab.com/diy-self-b...
Components Required
Arduino Nano..................................1 no.
MPU605 Gyro sensor...................1 no.
Nema 17 Stepper motors.............2 nos.
100mm Wheels................................2 nos.
A4988 Stepper driver IC..............2 nos.
HC-05 Bluetooth module.............1 no.
4mm MDF board.
150mm M5 threaded rods--------4 nos.
some nuts and bolts
Music credit to
Joakim Karud
• Clouds by Joakim Karud...
/ joakimkarud
💻visit for more projects :-
👉electricdiylab.com/
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Rotary tool :- amzn.to/2FM3Lnh This video is made for entertainment purposes only. Please use judgment, care, and precaution if you plan to replicate. WhatsApp for custom projects +91 7600079068
@akirahonda7356 4 жыл бұрын
Congrats!! One of the best projects in the web. My graduation project was a self balancing cart. It was 1989. It doesn't work. There were not so many ready made circuits like Arduino. You showed times have changed.
@afreenkhanawan8729 2 жыл бұрын
Alhumdulilah I am near to complete this project I am very glad and thankfully to the vedio maker,, 😊🥰🥰
@leobrunotronico 4 жыл бұрын
Finally I managed to successfully implement this robot, congratulations to the author! I had difficulty understanding the PID adjustment, but in the end, after many tests, I realized that it would not be necessary to change any of the data reported (based on the video values) the critical point, in my case, was to leave the resolution of the step in eighth step (only ms1 and ms2 connected in 5V and ms3 floating), with the sixteenth step the robot was able to balance itself but it was not in a fixed position, it made an oscillation amplitude of about 40 cm. It was necessary to change the transmission rate of the HC-05 to 115200 by AT commands, but it was fine. To make the cursor go back to the center in the app: settings => check the "back to MID" fields. Do not forget to use an electrolytic capacitor (100 uF or more) between the Vmot and GND pins of the A4988 driver, unfortunately, during the tests, some were burned because I did not use this capacitor. Any questions I will be happy to help you.
@abishekysharma444 4 жыл бұрын
hello, im getting driver pin was not declared in the scope please help me out
@abishekysharma444 4 жыл бұрын
i meant in the code while uploading to my arduino
@ibrahimnadi2114 4 жыл бұрын
Can you share the scheme you use? Thanks
@deepkhanderia5270 3 жыл бұрын
hey please reply if we make different body structure than yours than we have to change the value of pid or not? if yes then where in the code we need to change? please specify exact file name and location in that code! thanks
@abpccpba 2 жыл бұрын
I have smaller wheels 60mm. Will they suffice or is it mandatory to use 100mm? Leonardo, your offer of help is much appreciated; Thank You Very Much
@manelangulo8352 4 жыл бұрын
WOW...... Good contribution, like all of your channel, thanks for sharing I'm going to get to work, this project is very interesting Can you provide information on how the different modes of operation are changed? Greetings from Barcelona - SPAIN
@arduinoherman3867 2 жыл бұрын
Really needed this channel. Best reference for arduino projects!
@mingosutu 4 ай бұрын
Great job. Thanks a lot for sharing it. I wish next time you make it a way that the robot gets up on its own. I am sure you have the skills to do it. Thanks again
@raflonoce 2 жыл бұрын
Wonderful There are no other words to define your work
@AndrewAHayes 4 жыл бұрын
Quite a lot of gain on your microphone, the vocal sound would benefit from some compression and EQ to separate it from the BGM in the mix, I love your designs always something interesting! I wonder if it can gain stability after jumping a ramp?
@a.sanusinazareth9213 2 жыл бұрын
this is a very self-balancing robot. congrats!
@BikermanCoUk 2 жыл бұрын
Hi, I'm in the middle of building this robot and I have a question. I'm building without the custom PCB (ie on normal breadboard), so I'm using your diagram. It all seems OK except for one connection. On the top A4988 stepper driver the ground pins are connected through a 1K resistor to the step pin and to D5 on the arduino. This seems wrong - I would have thought that the two ground pins should connect directly to ground, with the step pin connected to D5 and a 1K bridge to ground (ie the same as the bottom A4988 driver). Have I misunderstood the circuit, or is it just a misprint ?
@alimahmoud8708 2 жыл бұрын
Great work man, I got a question,, What were the criteria used in evaluating the control algorithm?
@EdwinFairchild 3 жыл бұрын
I went to the blog and w3as hoping for a tutorial on the process but unfortunately it was more a tutorial on how to download copy and paste. Wish i could find a real well explained tutorial that doesnt skip the math
@nicolasspomer9618 4 жыл бұрын
Excellent work!! Could you please let me know how to change from pos hold to normal mode? And share your control mode configuration? Thanks in advance!
@mohdaijaz454 3 жыл бұрын
EZ-GUI is saying no data received when i tried to connect it with HC-05 at baud rate of 115200. and also AUX is showing "not enough information".
@aravinds8743 2 жыл бұрын
bro did you found the solution. Same problem also for me.
@samsoft_dz 2 жыл бұрын
great work ...i have a question i have the motors rotating in different direction !! how can I change the direction of the orongue one .. thank's .
@bergamt 4 жыл бұрын
Try putting the battery on the top level. With an inverted pendulum, a higher center of gravity actually makes it easier to balance.
@dozog 4 жыл бұрын
Looking through the comments to find if anyone else would say that. It is counter intuitive, but it is true. As i have said below similar videos : Try balancing a broom on your hand. First with the brush side up, then with the brush side down.
@aleksandarderajic47 4 жыл бұрын
When changing baud rate of HC05 in AT mode, what should be stop bit and pairty bit? Thank You
@sainitinandnikhil4454 Жыл бұрын
A small doubt,can we use cnc driver for this project with the same code including a4988.what will be the code changes
@miguelangelluna7297 4 жыл бұрын
Good equilibrium, congeatilation. Is deseable bb8
@gauravnawale3352 4 жыл бұрын
I am building similar robot using MPU6050, but my sensor starts giving very wrong outputs when it is subjected to vibrations due to stepper motors, please suggest me something to solve this!
@amvchannel892 2 жыл бұрын
I have a problem with i2c communication. In the ez gui app, in graphs, only works when i calibrate mpu sensor before and upload the sketch without quit tension. If I source my board with lipo battery, graphs does not anything. Pls help me
@lalaneverquit 2 жыл бұрын
how to disarm or unarm? I tried turning off the board but when I turn it on its still armed.
@thanhluandao756 9 ай бұрын
The robot control app doesn't show the aux part. What do I need to do to make it show the aux panel? please help me
@saikatdhara5319 4 жыл бұрын
Please tell me what is the orientation of mpu6050 Either it is ROLL or PITCH if I place the mpu6050 same as you
@it_world_by_faizan 8 ай бұрын
Sir kindly clear which maximum android version can support EZ-GUI Ground Station app?
@Abhi-wc8tj 2 жыл бұрын
Hi bro when I connect it to mobile after sum sec it will say warning data not received can u please tell me y
@RIVALDIOS59 3 ай бұрын
One question, how did you make the bluetooth connection with the application work on the hc-05 model (I'm doing the same project, but the bluetooth connection is not working well)
@hiper_tops Жыл бұрын
Are you meant to see the red lights at 11:26 when you have uploaded the code? Mine didnt do that but arduino ide said it was uploaded. My robot isn't doing anything when I plug its battery in
@anmolsinghshekhawat4284 4 жыл бұрын
i had a doubt what if i used a different diameter tyres will it work same or i have kame some changes in the code
@imagesky3806 4 жыл бұрын
can you say something more about calibration? my robot does not drive sideways but front and back
@mark1944 7 ай бұрын
Can't seem to get the code to compile correctly in arduino IDE. There's mention of a config tab but no idea where or what that is. Any help is much appreciated. Thanks for the design!
@nguyenducanhtai7380 3 жыл бұрын
When I upload the sketch I get… what should i do???? Output.cpp:162:13: error: ‘DRIVER_PIN’ was not declared in this scope pinMode(DRIVER_PIN[{i}],OUTPUT);(5) Output.cpp:164:3: error: expected ‘;’ before ‘}’ token } exit status 1 ‘DRIVER_PIN’ was not declared in this scope
@hyeongcheoljo5327 4 жыл бұрын
Thats awesome!!!! I have one question. What is the defference between normal mode and position hold mode????
@roadkill236 3 жыл бұрын
İn pısition hold mode it wworks like a bumeranh
@shobhitkumawat 9 ай бұрын
I want to use A0, A1, A2 and A3 for stepper control. Could you please guide me where to change pin configuration? Thanks in Advance.
@rithikaramesh2765 4 жыл бұрын
how do i find my orientation for my mpu 6050
@Richard-vw8no 3 жыл бұрын
$2 part... $25.02 for shipping!
@tuyenvo1038 2 жыл бұрын
Hi. I don't know if you still have this project data, if so, can you tell me the current app like the clip is broken and can't be used anymore, do you know if you have found an alternative method?
@wfpnknw32 Ай бұрын
great project, although the arduino nano is mislabelled as a mpu6050 @2:36. Great project and video though
@maddilasumanth7888 3 жыл бұрын
I didn't get any data from the bluetooth to my EZ-GUI APP Can you please solve it?
@gabrieldardenne9360 3 жыл бұрын
Bonjour. Dans EZ-GUY quand je suis à l'écran "AUX", j'ai l'indication "Pas assez d'information". Je n'ai pas l'écran suivant visible au temps 12:16 de la vidéo. J'ai recommencé de nombreuses fois sans pouvoir cocher les 3 cases. Merci de m'aider à finir la configuration. Bonne année à tous !
@leedaniel3465 3 жыл бұрын
Nice!!!.. Would an Arduino Nano Every work? I tried it but getting errors and some variables not defined in the def.h file
@akuntumbal2837 4 жыл бұрын
thanks bro, thanks for your help. So, I can finished my task , thanks bro
@venkateshwaranp9517 4 жыл бұрын
How did u configure the bt-05
@maddilasumanth7888 3 жыл бұрын
I am not getting any data from Bluetooth to EZ-GUI App Can you please solve this problem?
@iwanbukanfals1834 3 жыл бұрын
@@maddilasumanth7888 Change the Baud Rate of HC-05 Bluetooth Module
@maddilasumanth7888 3 жыл бұрын
@@iwanbukanfals1834How to change Baud rate of HC-05 module bro??
@maddilasumanth7888 3 жыл бұрын
@@iwanbukanfals1834 in EZ-GUI app I am getting " warning No Data Received" Please slove this problem Please🙏
@diptangshudas6725 4 жыл бұрын
What about MS1, MS2, MS3 pin of A4988 driver? Please tell me as soon as possible. Your PCB sketch and the real PCBs are of different connection with those pins.
@syedsulaiman8380 4 жыл бұрын
hey i have extra pcbs??? Do you want?
@diptangshudas6725 4 жыл бұрын
@@syedsulaiman8380 For now, no thanks. But if I need I must contact you
@syedsulaiman8380 4 жыл бұрын
@@diptangshudas6725 I live in india and I ordered the pcb he has given If you want fell free to contact I also have other PCBs from how to mechtronics
@yonatantamiru7756 2 ай бұрын
did you adjust the PID value yourself because mine say wrong value
@abishekysharma444 4 жыл бұрын
hello, im getting driver pin was not declared in the scope please help me out
@MrLorivaldo 4 жыл бұрын
Hello, I'm from Brazil and I'm trying to build this prototype as a project at the university. But, EZ-GUI is reporting "I2C Errors cont". Can you help me resolve this error? thank you
@arnaudmairesse2774 3 жыл бұрын
I bought your pcb and each time i burned my arduino (3 times) with several pcb (i bought 5) I have question what is the fonction of j1 jumper do we need to install it For the over jumper i understand that it is for microstep for motor driver Could you help me i dont understand ?
@mahovvik 4 жыл бұрын
Thanks a lot for repeating my project!
@muneeburrehman450 4 жыл бұрын
i have also made this project.
@harishkumar3481 3 жыл бұрын
Sir my Ez-gui app is showing warning no data received pls help what to do
@beep6202 2 жыл бұрын
Is there a way to run this with a bluetooth controller rather than though an app?
@imandanielsyahidan7504 2 жыл бұрын
hello,name is daniel,i have a question, i am currently using this video as my final year project and i have some problems, can u help me why when i connected to my ez-gui with my robot it tells that there is no data
@danieldanny6188 2 жыл бұрын
Ther Gerber file which you gave with this video is kind of different from the pcb used in this video, so basically will my project work with the only components used in the video? Please let me know
@apekshap4106 Жыл бұрын
Heyy can you share the Gerber file?
@ersenesn739 2 жыл бұрын
Is there an error or missing in the circuit connections?
@harishkumar3481 3 жыл бұрын
Bro config.h is not showing in drop down when I am uploading code then what should I do pls help I am using arduino ide 1.8 version
@developedbyharsh 3 жыл бұрын
Can we use drv8825 stepper motor driver instead of a4988? Plszz help me!
@capthescience9794 4 жыл бұрын
super this is the only vidio which tell to upload the code
@TECTECHNICALLY 2 жыл бұрын
I follow your complete video and your documentation. I am not get success as the app could not work. When I connect HC-05 to ez GUI and go to AUX section it shows not enough information. Please help me how I can solve this issue?
@pradumpal8792 Жыл бұрын
You need to set your HC-05 bout rate to 115200 first, for this you need to set it by AT command mode
@saikatdhara5319 4 жыл бұрын
Sir I made the robot as you shown in the video and also make the circuit same as the diagram and put a capacitor of 100uf between vmot and gnd. But when I place the robot vertically steeper motors are continuously rotating I also done the calibration and Aux and pid settings. Please help me to figure out the problem.
@syedsulaiman8380 4 жыл бұрын
I have the same problem
@syedsulaiman8380 4 жыл бұрын
I am working on it
@supertramp245 3 жыл бұрын
did you fix it ?
@sivaranjan4704 3 жыл бұрын
In First trial u got the accuarte output ??
@harshadgunjikar1595 3 жыл бұрын
I'm using reversal shaft stepper motors will it work?????
@raflonoce 2 жыл бұрын
How could the robot follow the person who has the program installed in the smartphone autonomously ?
@Paul_Bearden 3 жыл бұрын
2:35 You miss labeled the Arduino near the wheels as an MPU6050.
@yvan6719 3 жыл бұрын
Hi ! Looks very nice ! :) Congrats ! I'd like to do the same kind of robot ^^ but i don't know doing PCB, can you help to tell me what can i use ?
@RyanMcCoppin 2 жыл бұрын
Wires.
@dodosrexs8493 Жыл бұрын
@@RyanMcCoppin bruh XD
@ceallo3034 4 жыл бұрын
HI, thank you for your kind instructions. I was following your guide and now stuck into running an "ez gui" app. If you know why my app doesn't show AUX, could you tell me why? it only says 'Not enough information'.
@Joaoprimila 3 жыл бұрын
same
@CallmeMau 3 жыл бұрын
Did you manage to resolve this issue? I have the same problem
@pradumpal8792 Жыл бұрын
That means your BT module boud rate is not set on 115200 set it first by AT command mode
@shivanshchowhan166 4 ай бұрын
can we use arduino uno for the same pin?
@Bzl_777 8 ай бұрын
Sketch is giving compilation error please help And also how to get config.h option in new ide
@sadsausage2224 3 жыл бұрын
How much did this cost and how long did it take to build?
@iwanbukanfals1834 3 жыл бұрын
thanks for sharing,my balancing robot was success in this day
@deepkhanderia5270 3 жыл бұрын
Did you copied all same from the video?
@iwanbukanfals1834 3 жыл бұрын
my program & code is same with this video,.
@androidoptimusprime 3 жыл бұрын
@@iwanbukanfals1834 So you went to BalancingWii.ino and compile and run? Because I did the same but it tells me it has many errors.
@iwanbukanfals1834 3 жыл бұрын
@@androidoptimusprime yes,following that vidio,you will can
@user-ro8er1mt2m 5 ай бұрын
hello, @iwanbukanfals1834 can you send me the full code, i cant get it/download all togheter. Thank You!!! @@iwanbukanfals1834
@frankn2912 4 жыл бұрын
Well done Joakim. How do you create the PCB Boards?
@popovek 4 жыл бұрын
Hallo! You can use it, with some changing. a.aliexpress.ru/_eNRPmV .
@Francesco105590 Жыл бұрын
Hi, where did you buy the wheels?
@Francesco105590 Жыл бұрын
Hi, help, I have assembled the robot, but it swings and I have to hold it with my hand, what should I change as a PID parameter
@digitexstudios5634 Жыл бұрын
Increasing the kD constant would help with that
@Francesco105590 Жыл бұрын
to premise that I have 65 cm wheels, could this be it?
@justkillerz5219 2 жыл бұрын
IN THE APP AUX IS SETTING NOTSHOWING PLS HELP ME BRP
@mariancostin7316 3 жыл бұрын
If I Wanna use bigger wheels like 6-6.5 inch ,can I use the same equipment?or the software is based on the size of wheels?
@MrInnovative 3 жыл бұрын
just PID value will be change nothing else...
@hiper_tops Жыл бұрын
I get "warning no data received" when I connect to my robot on ez-gui, what should I do? Nothing appears under AUX
@buluthankaplan7703 2 ай бұрын
did you solve it?
@bhavyanaik8532 2 жыл бұрын
Can we use different kind of battery
@m.adnansohail1656 4 жыл бұрын
In this sketch can I tune PID value myself. If yes please guide where. I can't find PID variables
@popovek 4 жыл бұрын
You can change PIDs in GUI. PIDSPEED is PIDROLL in GUI. PIDANGLE is PIDLEVEL.
@theindianinnovator4179 3 жыл бұрын
Sir pls replay fast can we use gear motor instead of servo pls replay faster
@samarthvaishnav7 3 жыл бұрын
My robot dosen't stand steadily it becomes jittery and fall off plss help🙏🙏😄
@condronugroho9388 4 жыл бұрын
Looks simple but...hehehehe I've found a free sketch of balancing robot on Google and It's actually NOT simple. Normal mode, free falling mode, etc, etc.
@bpugsy719 3 жыл бұрын
where do i get the wheels???
@preethirajendren5035 8 ай бұрын
Sir....how much it take to develop this model
@nueschi 4 жыл бұрын
Brilliant!
@pritigangavkar2898 3 жыл бұрын
Where is ON/OFF switch,And how can i start robot second time without on/off switch
@lyricalmusicstation2498 4 жыл бұрын
Jahar bro##
@thecreatorpro9663 4 жыл бұрын
Sir Kon sy course may aysy project banany ko milta ha batao please sir please
@sunilrupnure1356 4 жыл бұрын
Hello sir.. I need to run stepper when 1st input pressed with acceleration to high speed continuously after pressing another 2nd input it should stop at given steps with deacceleration how to do it?? Can u plz help me??
@SketchwareExpert 4 жыл бұрын
Bro can I use BO motor in it
@preethirajendren5035 7 ай бұрын
Sir....does it run without chip
@mattivirta 4 жыл бұрын
only need change motors not newer use tstepper motor not good, gear motor dc 12V and include encoders have Blot BETTER.
@sunsetthireach3223 7 ай бұрын
Can I use an Arduino uno
@glauciogv5225 10 ай бұрын
Sehr gut !
@shiprapadhi5905 4 жыл бұрын
How to programme 3 codes
@jamonserrano2906 4 жыл бұрын
Hi guys, anyone faced the problem with motors not responding? i checked the wires, seems to be ok. i use drv8825, i tuned Vref.
@pradumpal8792 Жыл бұрын
facing same problem
@thecreatorpro9663 4 жыл бұрын
Sir aap ny Kon sa course Kiya ha batao please sir please
@thatguywithaplane2954 4 жыл бұрын
My bluetooth module connects to my phone, but when i go to aux it says that its not receiving data. Any ideas on what might be wrong?
@MrInnovative 4 жыл бұрын
Set Blue tooth baud rate 115200 from at command
@thatguywithaplane2954 4 жыл бұрын
@@MrInnovative thanks!
@dungvu4025 4 жыл бұрын
@@thatguywithaplane2954 me too. can you help me. thanks
@phtechnologyindia6709 3 жыл бұрын
@@MrInnovative I ALREADY SET THE BUD RATE BUT IT WARNING NO DATA RECEIVED
@SERVODROIDRU 3 жыл бұрын
@@phtechnologyindia6709 have you figured out how to beat it?
@marclewisbinabay490 5 ай бұрын
hello! can I get the actual file for the PCB? thank youu!
@kktech9252 4 жыл бұрын
How can I download garber file??
@3ddrucker102 4 жыл бұрын
Very good and honest work, keep it up!
@routers4935 4 жыл бұрын
Great!!!! ( which song is this?)
@alpaslanalperkayar 4 жыл бұрын
Hi Mr innovative. I have ordered the pcb’s from the link you provided. I got them and installed the components as you suggested. But there is a problem. I burnt 6 arduino nanos. I followed all the lines on the pcb and they line up with the schematic you shared. I know electronics and I have designed boards but couldn’t find what the problem is here. Can you help? Thanks
@alpaslanalperkayar 4 жыл бұрын
Mr Innovative. It turns out the Gerber file you share on your link has a short circuit on the +5V and the ground as well as PIN no 9 on arduino which burnt out 6 of my Arduino's!. This teaches me a lesson don't trust all the shares online. Given that you have spent so much time putting your project online with effort to describe the deatils etc I thought the schematics and the Gerber will be good. But it is not. W A R N I N G Y O U T U B E R S ! DON'T ORDER THE GERBER FILE FROM THE LINK PROVIDED HERE!!!!.....
@14tilen 4 жыл бұрын
@@alpaslanalperkayar Do you maybe have the fixed gerber file that works ?
@alpaslanalperkayar 4 жыл бұрын
david.persak10 x I haven’t had time but will send an update as soon as I got it fixed
@brandyplays6134 4 жыл бұрын
@@alpaslanalperkayar is the schematic atleast correct?? that has been used here?
@alpaslanalperkayar 4 жыл бұрын
@@brandyplays6134 The schematics is correct. I have a new Gerber file now. Expecting the PCB's end of the week. I'll test and share the file
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