Build Self Balancing Robot Using Arduino – Smartphone Control

 

Schematics

Self Balancing Robot Using Arduino
Self Balancing Robot Using Arduino

right motor = STEP1 & DIR1

left motor = STEP2 & DIR2

GY-521 Pins:

A4 – SDA

A5 – SCL

RC control:

D2 – CPPM (PPM_SUM) (For Transmitter)

HC-05 Bluetooth Module Pins:

TX-RX

RX-TX

Motor driver pins:

  • D5 – STEP1 (PORTD 5)
  • D6 – STEP2 (PORTD 6)
  • D7 – DIR1 (PORTD 7)
  • D8 – DIR2 (PORTB 0)
  • D4 – ENABLE (for both)

Code

This code isn’t written by me. Credits to Mahowik

https://github.com/mahowik/BalancingWii

His Video-https://www.youtube.com/watch?v=038e2j9nE3M

 

Parts Used

2 x NEMA 17 Stepper Motor-http://s.click.aliexpress.com/e/nMVrRJu
2 x A4988 Drivers-http://s.click.aliexpress.com/e/IAu7QzB
Arduino Nano-http://s.click.aliexpress.com/e/Vrz37a2
Lipo Battery-http://s.click.aliexpress.com/e/2VnyzNz
HC-05 Bluetooth Module-http://s.click.aliexpress.com/e/i66EAQV
GY-521 Module-http://s.click.aliexpress.com/e/JAYfAaA
Prototype Board-http://s.click.aliexpress.com/e/niAE6mI
10cm Wheels-http://s.click.aliexpress.com/e/y7eYVzj
M5 Rod-http://s.click.aliexpress.com/e/FybiEQV
Angle Brackets-http://s.click.aliexpress.com/e/ieaeAMr
Screws and Nuts-http://s.click.aliexpress.com/e/ufIYje2
http://s.click.aliexpress.com/e/ZrnuNzZ

Youtube

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