Arduino Self-Balancing Robot

6 Apr

Arduino Self-Balancing Robot

Hello, everyone!

In this instructable, I’ll show you how to build a small self-balancing robot that can move around avoiding obstacles. This is a tiny robot measuring 4 inches wide and 4 inches tall and is based on the Arduino Pro Mini development board and the MPU6050 accelerometer-gyroscope module.

In the steps that follow, we will see how to interface the MPU6050 with Arduino, how to measure the angle of inclination of the robot, how to use PID to make the robot stay balanced. An ultrasonic rangefinder is also added to the robot which prevents it from banging into obstacles as it wanders around.

Diagram:

Components:

1) BO Gear Motor : https://roboman.in/mj5r
2) Smart Robot Car Tyres Wheels : https://roboman.in/ro6c
3) L298N 2A Based Motor Driver Module: https://roboman.in/s9hs
4) Arduino Nano: https://roboman.in/59h4
5) Arduino Nano Type C : https://roboman.in/xkfu
6) MPU-6050 3-Axis Accelerometer and Gyro Sensor : https://roboman.in/2ctr
7) 18650X2 Double Battery Cell Holder : https://roboman.in/pgdz
8) 18650 Lithium Battery 2500mah 3C :https://roboman.in/utwc
8) 18650 Lithium Battery 2600mah 3C :https://roboman.in/mmab
8) 18650 Lithium Battery 2200mah 1C :https://roboman.in/70b5
8) 18650 Lithium Battery 2000mah 1C :https://roboman.in/7em9
8) 18650 Lithium Battery 1800mah 1C :https://roboman.in/ywss

Library File:

PID_v1 Download

MPU6050 Download

LMotorController Download

I2Cdev Download

Code:


#include <PID_v1.h>
#include <LMotorController.h>
#include "I2Cdev.h"
#include "MPU6050_6Axis_MotionApps20.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif

#define MIN_ABS_SPEED 30

MPU6050 mpu;

// MPU control/status vars
bool dmpReady = false; // set true if DMP init was successful
uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU
uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)
uint16_t packetSize; // expected DMP packet size (default is 42 bytes)
uint16_t fifoCount; // count of all bytes currently in FIFO
uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars
Quaternion q; // [w, x, y, z] quaternion container
VectorFloat gravity; // [x, y, z] gravity vector
float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

//PID
double originalSetpoint = 174.50;
double setpoint = originalSetpoint;
double movingAngleOffset = 0.3;
double input, output;

//adjust these values to fit your own design
double Kp = 40;   
double Kd = 1.6 ;
double Ki = 140;
PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);

double motorSpeedFactorLeft = 0.6;
double motorSpeedFactorRight = 0.6;
//MOTOR CONTROLLER
int ENA = 5;
int IN1 = 6;
int IN2 = 7;
int IN3 = 9;
int IN4 = 10;
int ENB = 8;
LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high
void dmpDataReady()
{
mpuInterrupt = true;
}


void setup()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif

mpu.initialize();

devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity
mpu.setXGyroOffset(220);
 mpu.setYGyroOffset(76);
 mpu.setZGyroOffset(-85);
mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)
if (devStatus == 0)
{
// turn on the DMP, now that it's ready
mpu.setDMPEnabled(true);

// enable Arduino interrupt detection
attachInterrupt(0, dmpDataReady, RISING);
mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it
dmpReady = true;

// get expected DMP packet size for later comparison
packetSize = mpu.dmpGetFIFOPacketSize();

//setup PID
pid.SetMode(AUTOMATIC);
pid.SetSampleTime(10);
pid.SetOutputLimits(-255, 255); 
}
else
{
// ERROR!
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
Serial.print(F("DMP Initialization failed (code "));
Serial.print(devStatus);
Serial.println(F(")"));
}
}


void loop()
{
// if programming failed, don't try to do anything
if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available
while (!mpuInterrupt && fifoCount < packetSize)
{
//no mpu data - performing PID calculations and output to motors 
pid.Compute();
motorController.move(output, MIN_ABS_SPEED);

}

// reset interrupt flag and get INT_STATUS byte
mpuInterrupt = false;
mpuIntStatus = mpu.getIntStatus();

// get current FIFO count
fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)
if ((mpuIntStatus & 0x10) || fifoCount == 1024)
{
// reset so we can continue cleanly
mpu.resetFIFO();
Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)
}
else if (mpuIntStatus & 0x02)
{
// wait for correct available data length, should be a VERY short wait
while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO
mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available
// (this lets us immediately read more without waiting for an interrupt)
fifoCount -= packetSize;

mpu.dmpGetQuaternion(&q, fifoBuffer);
mpu.dmpGetGravity(&gravity, &q);
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
input = ypr[1] * 180/M_PI + 180;
}
}

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#include <PID_v1.h>

#include <LMotorController.h>

#include "I2Cdev.h"

#include "MPU6050_6Axis_MotionApps20.h"

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

#include "Wire.h"

#endif

#define MIN_ABS_SPEED 30

MPU6050 mpu;

// MPU control/status vars

bool dmpReady = false; // set true if DMP init was successful

uint8_t mpuIntStatus; // holds actual interrupt status byte from MPU

uint8_t devStatus; // return status after each device operation (0 = success, !0 = error)

uint16_t packetSize; // expected DMP packet size (default is 42 bytes)

uint16_t fifoCount; // count of all bytes currently in FIFO

uint8_t fifoBuffer[64]; // FIFO storage buffer

// orientation/motion vars

Quaternion q; // [w, x, y, z] quaternion container

VectorFloat gravity; // [x, y, z] gravity vector

float ypr[3]; // [yaw, pitch, roll] yaw/pitch/roll container and gravity vector

//PID

double originalSetpoint = 174.50;

double setpoint = originalSetpoint;

double movingAngleOffset = 0.3;

double input, output;

//adjust these values to fit your own design

double Kp = 40;

double Kd = 1.6 ;

double Ki = 140;

PID pid(&input, &output, &setpoint, Kp, Ki, Kd, DIRECT);

double motorSpeedFactorLeft = 0.6;

double motorSpeedFactorRight = 0.6;

//MOTOR CONTROLLER

int ENA = 5;

int IN1 = 6;

int IN2 = 7;

int IN3 = 9;

int IN4 = 10;

int ENB = 8;

LMotorController motorController(ENA, IN1, IN2, ENB, IN3, IN4, motorSpeedFactorLeft, motorSpeedFactorRight);

volatile bool mpuInterrupt = false; // indicates whether MPU interrupt pin has gone high

void dmpDataReady()

{

mpuInterrupt = true;

}

void setup()

{

// join I2C bus (I2Cdev library doesn't do this automatically)

#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE

Wire.begin();

TWBR = 24; // 400kHz I2C clock (200kHz if CPU is 8MHz)

#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE

Fastwire::setup(400, true);

#endif

mpu.initialize();

devStatus = mpu.dmpInitialize();

// supply your own gyro offsets here, scaled for min sensitivity

mpu.setXGyroOffset(220);

mpu.setYGyroOffset(76);

mpu.setZGyroOffset(-85);

mpu.setZAccelOffset(1788); // 1688 factory default for my test chip

// make sure it worked (returns 0 if so)

if (devStatus == 0)

{

// turn on the DMP, now that it's ready

mpu.setDMPEnabled(true);

// enable Arduino interrupt detection

attachInterrupt(0, dmpDataReady, RISING);

mpuIntStatus = mpu.getIntStatus();

// set our DMP Ready flag so the main loop() function knows it's okay to use it

dmpReady = true;

// get expected DMP packet size for later comparison

packetSize = mpu.dmpGetFIFOPacketSize();

//setup PID

pid.SetMode(AUTOMATIC);

pid.SetSampleTime(10);

pid.SetOutputLimits(-255, 255);

}

else

{

// ERROR!

// 1 = initial memory load failed

// 2 = DMP configuration updates failed

// (if it's going to break, usually the code will be 1)

Serial.print(F("DMP Initialization failed (code "));

Serial.print(devStatus);

Serial.println(F(")"));

}

void loop()

{

// if programming failed, don't try to do anything

if (!dmpReady) return;

// wait for MPU interrupt or extra packet(s) available

while (!mpuInterrupt && fifoCount < packetSize)

{

//no mpu data - performing PID calculations and output to motors

pid.Compute();

motorController.move(output, MIN_ABS_SPEED);

}

// reset interrupt flag and get INT_STATUS byte

mpuInterrupt = false;

mpuIntStatus = mpu.getIntStatus();

// get current FIFO count

fifoCount = mpu.getFIFOCount();

// check for overflow (this should never happen unless our code is too inefficient)

if ((mpuIntStatus & 0x10) || fifoCount == 1024)

{

// reset so we can continue cleanly

mpu.resetFIFO();

Serial.println(F("FIFO overflow!"));

// otherwise, check for DMP data ready interrupt (this should happen frequently)

}

else if (mpuIntStatus & 0x02)

{

// wait for correct available data length, should be a VERY short wait

while (fifoCount < packetSize) fifoCount = mpu.getFIFOCount();

// read a packet from FIFO

mpu.getFIFOBytes(fifoBuffer, packetSize);

// track FIFO count here in case there is > 1 packet available

// (this lets us immediately read more without waiting for an interrupt)

fifoCount -= packetSize;

mpu.dmpGetQuaternion(&q, fifoBuffer);

mpu.dmpGetGravity(&gravity, &q);

mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);

input = ypr[1] * 180/M_PI + 180;

}

Arduino Self-Balancing Robot

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