Dec 23, 2021
The Sacred Six
1. Worthy 2. Joy 3. Experience 4. Compassionate Action 5. Self Balance 6. Create Reality = No Fear Of The Future
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The Sacred Six
1. Worthy 2. Joy 3. Experience 4. Compassionate Action 5. Self Balance 6. Create Reality = No Fear Of The Future
Hit the pavement in style with the self-balancing Hoverboard, featuring a Bluetooth Speaker and attention-getting LED Lights. The board features 6.5-inch alloy wheels, performance tires, a comfortable ergonomic design, and non-slip footpads that let you effortlessly glide through corners with full and precise control and a super smooth ride! Fun for the whole family, this Hoverboard is also UL2272 Certified, meeting the worldwide safety standard for products in this category. A great gift for kids of all ages! Available in a variety of colors. PRODUCT SPECIFICATIONS: * Max loading: 264 lbs./120 kg * Max Speed: about
A great gift for kids of all ages!
(via https://www.youtube.com/watch?v=DeWHfsJN_70) Self Balance Vehicle with Cappuccino (from @makeblock) https://youtu.be/DeWHfsJN_70 via youtube
Self-Balancing Robot
Self-Balance Robot is somewhat which balances itself and automatically corrects its position on disturbance.
How it works-
It will be prevented from falling by giving acceleration to the wheels according to its inclination from the vertical. If the bot gets tilts by an angle, than in the frame of the wheels, the centre of mass of the bot will experience a pseudo force which will apply a torque opposite to the direction of tilt.
Components-
1x Arduino UNO
1x HC-05 Bluetooth Module
1x MPU 6050
1x L293D
1x IC7805
1x Battery
2x 500 rpm MotorsAcrylic Sheet for building chassis
2x Motor clamps with screws
Some Large Screws
Jumper wires
Chassis-
Chassis is designed using Acrylic sheet.However,it can be designed using Wooden plank,plastic sheet etc. too.Sheet was cut to form 3 levels/floors.It's not mandatory,but is a good practice.No. of levels can be increased if desired.After markings,holes were made and chassis is assembled.
Connections-
A Fritzing file is shown below showing all connections.
MPU-6050 is used due to its DMP capability.It can procees the Raw Accelerometer & Gyro values to give the Yaw,Pitch,Roll.It greatly decreases the computation overhead.
HC-05 bluetooth module is used for communication between Bot and Android app.
L293d motor driver is used for controlling motor.
IC7805 voltage Regulator is used for providing 5V power supply to Arduino.However,using this IC is not necessary and battery can be directly plugged to Arduino.This is just used for Safety Purposes.
Software-
Libraries-
PID library by Brett Beauregard
Jeff Rowberg's I2CDev libraries for the MPU-6050
Luis Rodenas's sketch to calibrate the MPU-6050
digitalIOPerformance library for fast writing of pins
EEPROMex library by thijs for storing PID values in EEPROM memory
Complete code can be found at GITHUB repository
PID Tuning-
This is most important part of the process and the most difficult too!Control engineers set the PID parameters by experience.It's an art learnt through experience.There are various methods out there for PID tuning.
The best simple & easy method for PID tuning is-
Set I and D term to 0, and adjust P so that the robot starts to oscillate (move back and forth) about the balance position. P should be large enough for the robot to move but not too large otherwise the movement would not be smooth.
With P set, increase I so that the robot accelerates faster when off balance. With P and I properly tuned, the robot should be able to self-balance for at least a few seconds.
Finally, increase D so that the robot would move about its balanced position more gentle, and there shouldn’t be any significant overshoots.
The PID tuning may take considerable time depending on the requirement and adjustment.
APP-
The initial app used for testing is Arduino Bluetooth RC Car
PID tuning was done initially manually.A custom app has been developed for controlling robot.
Resources-
App , Electronics
References-
http://www.instructables.com/id/Simple-Self-balancing-Robot-w-Galileo-Gen-2/?ALLSTEPS
http://www.kerrywong.com/2012/03/21/a-self-balancing-robot-iii/
https://github.com/lukagabric/Franko/blob/master/Franko/Franko.ino
...there is no final, satisfying way to balance our need to be known with our need to be alone. The balance is always uncertain and provisional; it’s always a matter of dissatisfaction, give-and-take, and sacrifice. Because an artist’s privacy is a state of mind, rather than a matter of law, there are no rules to help us master it. It’s up to each of us to balance the risks and rewards—to trade, in right proportion, loneliness for freedom, explicability for mystery, and the knowable for the unknown within ourselves.
Joshua Rothman, Virginia Woolf’s Idea of Privacy