2-Wheeled Self Balancing Robot Project

Overview

In this project, we have successfully developed a 2-wheeled self-balancing robot. The key mechanism involves measuring the tilt of the bot using an accelerometer and gyroscope, and then adjusting the wheel movement to counteract the imbalance. A complementary filter enhances the accuracy of the accelerometer and gyroscope readings.

Initially, we implemented a Linear Quadratic Regulator (LQR) controller; however, complications arose due to the physical limitations of the bot. Subsequently, we transitioned to a Cascaded Proportional Derivative (PD) controller, specifically employed to regulate motor speed.

Project Components

1. CAD Folder

   • Contains 2D CAD drawings of the chassis.

2. Code Folder

   • Includes C++ code written in the Arduino IDE for the project.

3. Datasheets Folder

   • Contains documentation for the hardware components used in the project.

4. Demo Folder

   • Provides a link to the YouTube video demonstrating the functioning of the self-balancing robot.

5. Presentation Folder

   • Contains materials related to the presentation, including PowerPoint slides.

6. Reference Papers Folder

   • Houses research papers that were referred to during the project for background information and insights.

7. Report Folder

   • Includes a detailed report on the development, methodology, and findings of the self-balancing robot project.

8. Resources Folder

   • Comprises a list of websites and webpages that were referred to for additional information and resources during the course of the project.

Feel free to explore the respective folders for a comprehensive understanding of our 2-wheeled self-balancing robot project.