Lotp Two - Wheeled Self - Balancing Robot

About the project

LOTP Two-Wheeled Self-Balancing Robot Project is an open source –DIY- project. It can maintain its own balance and can be controlled remotely via wireless connection.

Project info

Difficulty: Difficult

Platforms: Raspberry Pi

Estimated time: 1 week

License: GNU General Public License, version 3 or later (GPL3+)

Items used in this project

Hardware components

Raspberry Pi Pico Raspberry Pi Pico x 1
MPU9250 MPU9250 x 1
Hc-06 Bluetooth module Hc-06 Bluetooth module x 1
Nema-14 sy35st28 Stepper Motor Nema-14 sy35st28 Stepper Motor x 2
2S Lipo Battery 30C 2S Lipo Battery 30C x 1
100uF Capacitor 100uF Capacitor x 2
DRV8825 Stepper Motor Driver DRV8825 Stepper Motor Driver x 2
Led Led x 2

View all

Software apps and online services

Fusion 360 Fusion 360
Fritzing Fritzing
Ultimaker Cura Ultimaker Cura

Hand tools and fabrication machines

Ender 3 Max (3D Printer) Ender 3 Max (3D Printer) x 1

Story

LOTP Two-Wheeled Self-Balancing Robot Project is an open source –DIY- project. It can maintain its own balance and can be controlled remotely via wireless connection.


It's features are:

. Fusion 360 designed

. Bluetooth control is available

. Raspberry Pi Pico used as a micro controller

. Software is written in Python

. Stepper Motors are used to perform movement

. PID Controller implemented

. Self - Balancing

. Open Source

. DIY Project

All project files & documents are shared at the GitHub link given below.

https://github.com/SMDHuman/BalanceWheel



The contents of the shares are as follows1
1. 3D Design Files (Robot Step .stl files)

2. Circuit Diagrams (Electronics .json .pdf gerber files)

3. Software
4. Pictures
5. List of Materials


Schematics, diagrams and documents

PCB_TOP_LOTP Balance Wheel

Gerber_TopPasteMaskLayer.GTP

Gerber_BottomSolderMaskLayer.GBS

PCB_PCB_LOTP Balance Wheel

Gerber_TopSolderMaskLayer.GTS

Drill_PTH_Through.DRL

Gerber_TopSilkscreenLayer.GTO

PCB_LOTP Balance Wheel.json

Gerber_TopLayer.GTL

LOTP Balance Wheel.json

Schematic_LOTP Balance Wheel

Gerber_BottomSilkscreenLayer.GBO

Gerber_BottomLayer.GBL

Gerber_BoardOutlineLayer.GKO

PCB_BOTTOM_LOTP Balance Wheel

CAD, enclosures and custom parts

Robot Body.stl

Wheels.stl

MPU Bat Extension.stl

Code

stepper.py

Codes

Images

Circuits

mpu6500.py

mpu9250.py

main.py

MPU_CAL.py

List of Hardware Components

3D Model

ak8963.py

Credits

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