Super Ultra Balance Bot 9000
Overview
This two-wheeled rover is designed to balance and stay upright even on tilted surfaces. It runs on 4 AA batteries and uses a dual H-Bridge to control the wheel motors. Feedback control balancing is implemented using data gathered from Hall effect encoders and an LSM9DS1 IMU
Members
- Neil Hardy
- Madeleyne Vaca
Parts
- Dual H-Bridge
- LSM9DS1 IMU
- 4 AA batteries with pack
- barrel connector
- 2 DC motors
- Encoder kit
Wiring
mbed | LSM9DS1 |
---|---|
p27 | SDA |
p26 | SCL |
VDD | VOUT |
GND | GND |
mbed | Dual H-Bridge | Left Motor | Right Motor |
---|---|---|---|
p22 | PWMA | - | - |
p20 | AIN2 | - | - |
p19 | AIN1 | - | - |
p16 | ^/STBY | - | - |
p18 | BIN1 | - | - |
p17 | BIN2 | - | - |
p21 | PWMB | - | - |
VOUT | VCC | - | - |
VU | VMOT | - | - |
GND | GND | - | - |
- | AO1 | pos | - |
- | AO2 | neg | - |
- | BO1 | - | pos |
- | BO2 | - | neg |
mbed | Left Encoder | Right Encoder |
---|---|---|
VOUT | pwr+(red) | pwr+(red) |
GND | pwr-(black) | pwr-(black) |
p15 | data (white) | - |
p16 | - | data (white) |
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