Arduino Project-Self Balancing Robot

Arduino Project-Arduino Self Balancing Robot
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In this Arduino Project Tutorial, I Built Self Balancing Robot with Smartphone Control using Arduino Microcontroller.
This Self Balancing Robot is a Two-wheeled Robot that balances vertically using a closed-loop algorithm. This Self Balancing Robot Features various modes like Position Hold, Simple Mode, Rise Mode and Joystick Control. This Robot is controllable by a Smartphone device or a Transmitter. Self Balancing robot uses data from the Accelerometer and Gyroscope to correct its orientation and position.
Instagram- / shinedjar
Facebook- / rztronics
Twitter - / rztronix
Code and Schematics:
github.com/mah...
Parts Used:
2 x NEMA 17 Stepper Motor-s.click.aliexpr...
2 x A4988 Drivers-s.click.aliexpr...
Arduino Nano-s.click.aliexpr...
Lipo Battery-s.click.aliexpr...
HC-05 Bluetooth Module-s.click.aliexpr...
GY-521 Module-s.click.aliexpr...
Prototype Board-s.click.aliexpr...
10cm Wheels-s.click.aliexpr...
M5 Rod-s.click.aliexpr...
Angle Brackets-s.click.aliexpr...
Screws and Nuts-s.click.aliexpr...
s.click.aliexpr...
Music-
Classic by Joakim Karud
• Classic (Loudness & Cl...

[@ejikenwaeze5979]

I love the video quality. Seems somewhat professional. Please post more consistently if you want to succeed at KZbin, bc I know you would

[@ejikenwaeze5979]

Technical & Mechanical Guruji BC = because

[@dineshkumark2940]

@@UTechTuberdude

[@edgaromarreynatorres3940]

What does bc means?

[@Masachiis]

@@edgaromarreynatorres3940bc means because

[@MohamedKSaeed]

most people who watch content like this are very interested in how this is actually made, so if you could go through more technical details about the arduino shields used and the code and the wiring itll be much more appealing

[@stewartzayat7526]

Yes! Please!

[@fernandolozano9898]

Agreed.

[@isaacprosper6295]

I agree,my guy please get to the details

[@pritigangavkar2898]

I made this robot.I did it.

[@hassanniaz7583]

@@pritigangavkar2898 Here's your medal 🏅🏆

[@eToroBoT]

a lot of builders on YT need to learn from your video quality

[@diyowl5496]

For some reason, this video looks very aesthetic and professional. Keep up the amazing work. Subscribed!

[@Tjup]

the shematic is wrong, the bluetooth only get voltage, and nothing more

[@TheSaitrus]

Balances a lot better than the Boeing 737 MAX.

[@mr.boombastic8612]

69 likes and no comments

[@mr.boombastic8612]

69 likes and no comment

[@jordanbooth795]

@@mr.boombastic8612 Can you not delete comments?

[@jordanbooth795]

You realise it wasn't a balance issue that caused two of them to crash.

[@t.josephnkansah-mahaney7961]

Kimmo Too soon?

[@ayubsunarya6284]

Try adding PID transfer function to avoid the wiggling movement. Than you will get smooth balancing. Great project btw!

[@finnbsch]

How will the integral part help?

[@isaacprosper6295]

Damn geniuses,what I'm I doing here

[@gamingfeeling5511]

@@isaacprosper6295 error_prior = 0 integral_prior = 0 KP = Some value you need to come up KI = Some value you need to come up KD = Some value you need to come up bias = 0 (see below) while(1) { error = desired_value - actual_value integral = integral_prior + error * iteration_time derivative = (error - error_prior) / iteration_time output = KP*error + KI*integral + KD*derivative + bias error_prior = error integral_prior = integral sleep(iteration_time) } Really simple edit: thats pseudo code btw

[@xeither289]

GOD JESUS TOLD US TO LOVE GOD AND TO LOVE ONE ANOTHER! LET'S NOT DESTROY THIS WORLD! NO WAR!!! БОГ СОЗДАЛ ТАКОЙ ПРЕКРАСНЫЙ МИР! НЕ БУДЕМ РАЗРУШАТЬ МИР! ПОЛЮБИМ БОГА И ВСЕХ ЛЮДЕЙ! НЕТ ВОЙНЕ!!

[@xeither289]

​@@finnbschGOD JESUS TOLD US TO LOVE GOD AND TO LOVE ONE ANOTHER! LET'S NOT DESTROY THIS WORLD! NO WAR!!! БОГ СОЗДАЛ ТАКОЙ ПРЕКРАСНЫЙ МИР! НЕ БУДЕМ РАЗРУШАТЬ МИР! ПОЛЮБИМ БОГА И ВСЕХ ЛЮДЕЙ! НЕТ ВОЙНЕ!!

[@christianclement8732]

Bravo (in french) ! Could you please add a picture of the pcb after all soldering is done ? This will be very helpfull for me who is not a great electronician ! Thank you very much.

[@YasinHasan]

now add follow me function, so that i can keep it as a pet

[@matrixate]

Exactly everyone's thought but unfortunately, that will have unexpected results and accidents, especially in public. Honda already has that in a following motorcycle. See here: kzbin.info/www/bejne/hZzJY2tpeNlghLs

[@rahulvaity8528]

Nice video quality and excellent job

[@mattm7482]

Can you describe the design and the function of the modules briefly ? That would help attract more views, I would prefer some technical details.

[@nalini6920]

It is not complete Schematic, bluetooth pin conection are not shown there

[@andydoddington2993]

Yup - it's being powered but not used - very confusing :-(

[@princepakistan2810]

Froud

[@ryushogun9890]

Do you guys thing electronic pieces we use for every electronic device can be refined and built differently with more efficiency in some way? Asking as a noobie. They were invented by really competent people but aren't us too accommodated to their efforts and that is making it more difficult to get a home labor robot?

[@trinston13]

Now how do I make it autonomously follow me around so I don't have to carry multiple shots to my friends?

[@Medos996]

I think there is a mistake in the schematic image, you are supplying the arduino 12v from the 5v pin and getting 5v from the VIN pin which should be the other way around ( you supply 12v through the VIN pin and you get 5v from the 5v pin)

[@hvdub754]

please post more!!!! amazing production quality!

[@mahovvik]

Nice to see that someone successfully repeated my project! :) BTW why turn right/left is not on the video? You got some issues with that?

[@yanin68]

How does the bluetooth work if it's not connected anywhere?

[@connorwatson7162]

it states that it's connected to TX and RX on the documentation online

[@berkayavc1625]

can we use tt motors instead of step motors????Because tt motors are cheaper than step motors...

[@sumithaibrahim6441]

I love this video because the video quality is super and the song and sound make us to listen to it and the project is awsome so all the best to future

[@omar-dj1pz]

Excellent job but I have a question what is the Spécifications of the capacitor ?

[@rakhigupta8310]

Please try to add a proximity sensor to this. Hope you will do it.😊

[@gazvlogs7459]

More flux and a little bit more heat and you will be pleased, great quality right here!

[@kadenzxc]

Awesome job! I'm working on a balancing robot myself at the moment. Still stuck in the math though. My approach uses 15 state variables in the model right now :'( But I'd really like to keep things like wheel inertia in the picture; I think my MCU is fast enough to handle it.

[@princepakistan2810]

Why you not connet blue tooth tx rx terminals? Tell me and look at your sachmatic diagram 2:58

[@hamidhamouchi4437]

Great Job Bro ! When I connected the application EZ-GUI to the HC-05 Bluetooth Module, I don't found parameters "AUX" (it's empty !!! ) How I can resolve this problem plz ? Thanks !!

[@buudang1997]

Hamid Hamouchi me too :(

[@jaykumarvora2156]

@@TrungNguyen-mg9ko same bro

[@MichaelProds99]

Did you solve it?

[@vuongnguyenhp234]

me too

[@autism2219]

do u solve it bro?pls reply me

[@japancine]

The schematic at 3:00 shows the wiring for the HC05 is wrong. It will not communicate. The bluetooth device is just hanging there doing nothing

[@RajendraVermaa]

Thank you for the wonderful video again. I was finally able to make the complete project with some minor modifications. The GY521 module must be placed as high as possible from the ground rather than on the PCB which is in the middle shelf. The EZ-GUI settings especially the PID should have been touched upon also. Without this input making the robot may be frustrating for the inexperienced. I had to do a lot of tweaking to finally get it balancing properly. It was a great learning experience. Keep on uploading such videos.

[@rajvanshsingh770]

PLEASE GUIDE ME FOR THIS PROJECT IS NOT WORKING AS GUI RECEIVING NO DATA

[@RajendraVermaa]

Rajvansh Singh Please set the Bluetooth HC 05 module baudrate to 115200. Just Google for the procedure.

[@raahimimran6937]

How many mah of the battery is used?? Please reply....

[@LeoL123]

Could you tell the PID configuration? I have done this project, but the wheels keep turning for a while then vibrating.

[@shwetasingh773]

Rajendra Verma can u plz tell me how to change hc-05 baud rate

[@jackdiamondsa4298]

now this is how u make a video , keep it up mate

[@cherifaidara4244]

Nice but you should add a turning function with the motors

[@TheDutchGamingBE]

Yeah if you can combine this part with pieces of an autonomous arduino car that'd be way better

[@alterntech]

just open the zip file and up load the sketch.. How can it work without testing the MPU6050 for offset values to calibrate the gyro/acc module??

[@khalilbensalah6529]

hey i have a problem in compiling the codes please helpp

[@cai0_o]

what is your problem?

[@khalilbensalah6529]

@@cai0_o soory it no thé codes I gant find mpu6050 Can i use another one like adxl345 ?

[@SaiKumar-tl5tz]

bro did ur code worked?

[@armirjemini8109]

7:17 , How to connect EZ-GUI with HC-05 Module , my phone cannot find the module , what should I do?

[@aadityadhruve172]

Excellent job done. Very neatly explained all the stuf

[@ssahinnkadir]

Hey RZTronics, I couldn't find the 2A 59 N.cm stepper motor and the 10 cm diameter wheels anywhere. 😔 Could I use a step motor 1,2-1.8 Ampere 30-45 N.Cm and 8,5 cm diameter wheels for this project?

[@sanupamu]

What is part of hc05 its not connected any where. Except power

[@RajendraVermaa]

Connect to nano pins TX and RX, need a voltage divider. Just google

[@sanupamu]

Rajendra Verma thanxs

[@rockin123ricks]

Its a bluetooth module to connect to the phone

[@pradeepavenkatesan1744]

S

[@jaykumarvora2156]

@@RajendraVermaa bro plss mail me the proper circuit diagram ..have tried this circuit couple of times @[e-mail]

[@prasangjain3932]

I m making a quadcopter with the help of MPU 6050 so when motors are activated the angels of x and y are showing sudden high changes in angles so the motors are having uneven speed so can u tell me the solution for balancing it properly I think these variations may be because of vibrations catched by gyro

[@rollielyncoro95]

Whats the value of the capacitor

[@bindus3939]

50v 100uF

[@teodoralilianajitca2890]

Hi! I have been trying for some time to complete the robot project but I am not able to connect the robot with the application "no data received". I changed the baud rate through AT commands to 115200. How can I solve this problem?

[@Gabrozzooooo]

where can I find all the measurements? (of the pcb to be cut and the length of the threaded bar)

[@christianclement8732]

Evaluating the number of holes in the pcb board, I estimated the following size : 16.5 x 8 cm. Concerning the threaded bar, I used a 1 meter rod => 25 cm for each rod.

[@Seedx]

How big do you think this is?

[@sachinjain890]

as we are manually soldering the pcb , so chances of short circuit of lipo battery are there, right?

[@mohit-gs3ql]

Can you please give me the circuit diagram?

[@RZtronics]

Link available in the description.

[@mohit-gs3ql]

RZtronics ok thanks

[@MrBLUE-qw9xf]

RZtronics how can i change the values of pid please sir help me

[@99desi9n]

This is amazing. What weights would it be able to handle, or should you use a bigger motor for weights over 60kg?

[@bebek1993]

But can it run Crysis ?

[@wrxsubaru02]

I have an idea for you... You should add a mini 3d printer on top of this to blow everyone's mind. Maybe make it out of CD linear parts so its nice and compact.

[@brainmind4070]

Cool project, but it would be more stable if the sensors were right on the underside of the top surface. They should be as high as possible to minimize that wobbling. A note on the video: I found the extremely repetitive music to be obnoxious. Three 15 second ads might have been a bit much, too.

[@billhickswasgreat3421]

I cant seem to find the wheels, the link provided leads to another item, does anyone have suggestions where I can buy similar wheels in the UK?

[@johnsunlight]

Cool, until some guy from Boston Dynamics shows up and kicks it over.

[@JIYU_Gaming]

The AUX part are not showing. please complete the schematic for Bluetooth module.

[@AnkitDubey-ru9jb]

What is the reason behind balancing ?

[@darwinborines1073]

accelerometer

[@yugeshkeluskar]

It uses the principle of inverted pendulum

[@aok76_]

Uses a microcontroller to counteract tipping by actuating the motors with a necessary torque; it uses a negative feedback loop to decide.

[@ABID5]

Very well done.Good filming and transitions.

[@MegaClaudj]

beauty project ¡¡¡¡

[@gauravnawale3352]

I am building similar robot using MPU6050, but my sensor starts giving very wrong outputs when it is subjected to vibrations due to stepper motors, please suggest me something to solve this!

[@paulfilliette9855]

nice!! can he turn?

[@RZtronics]

Yes, It Can.

[@paulfilliette9855]

RZtronics cool

[@Demonade_]

Great. All you need to do now is make it 1 wheeled.

[@patrickjdarrow]

I started with NEMA17s but ruled them out because the max RPM seemed way too low. Did you ever feel like you needed faster motors?

[@dineshvyas]

Bro you need brushless motors. NEMA 17 are for CNC not Quadcopter.

[@patrickjdarrow]

@@dineshvyas This isn't a quadcopter & he used NEMAs anyway

[@dineshvyas]

@@patrickjdarrow yes indeed, my mistake dear. I intended to comment on previous video. I scrolled down and till then video chenged and I saw this....

[@dineshvyas]

Patrick Darrow you need Bo motors for this project. Bo motors are dirt cheap.

[@dineshvyas]

robokits.co.in/motors/dc-motor/bo-motor/dc-motor-dual-shaft-bomotor-series-200rpm-300-rpm?gclid=CjwKCAiAiuTfBRAaEiwA4itUqPuBGL9LHuiTIVV5yPGlYByzYGF5MLTeuylC0tswBCKuPutzgmtlrBoCuxkQAvD_BwE

[@babbalgts]

Whats the logic behind truning..? I know you decrease the power in one of the motors...but its not working...

[@bhanushreer8684]

It was really nice sir can u upload the picture of the soldering which u completed with the connection of the soldering so we can easily see and we can also solder

[@AkBot96]

hey i am not getting aux setting in andriod app and i noticed that my transmitter led is not blinking on nano can you please giude me little bit. iam also using nano shield to mount the nano.

[@vinithviswanathan3083]

Having same issues..can you help me please?

[@DanielGonzalez-mv7fi]

Hi…- My balancing robot has a good balance but I can't get it to remain static, maintaining the position, that is, it doesn't return to the center. It runs very fast in one direction, almost always the same. What can be causing this? Thank you very much...

[@stjepanstrmecki243]

@RZtronics is it possible for you to provide me vith a PCB scheme for this... I"ve tried to do im myself from your picture in altium designer but i keep failing, i want to put it all on a circuit board but i just cant seem to make it work. I"ve even burned some components in the proces so i hope you could help me out

[@vinithviswanathan3083]

Can you actually connect the HC 05 to the EZ-GUI app..its saying no data recieved for me.can you help me in this?

[@Juzproton]

Hi Thans, When I connected the application EZ-GUI to the HC-05 Bluetooth Module, I don't found parameters "AUX" (it's empty !!! ) How I can resolve this problem plz ?

[@buudang1997]

Julio Zafra me too bro :((

[@MichaelProds99]

Did you solve it?

[@vinithviswanathan3083]

I too have this same issue...can you guys help me please..

[@vinithviswanathan3083]

@@MichaelProds99 actually i solved this one.did you gave the connection using wires?

[@MichaelProds99]

@@vinithviswanathan3083 yes, i changed the wires and it worked

[@nazra3568]

this is so cool! love how the video is designed. how long did it take you to do this?

[@nazra3568]

also very cool project in general, have you ever posted any of these on the ProjectBoard?

[@sourabhkhemkask]

@RZtronics *What have you connected to relimate connector of the Li-po and why ?*

[@RZtronics]

I used the first 2 cell's of lipo to power On my Arduino via the Relimate connector

[@annamraghavayya5860]

@@RZtronics can you send me code? I really can't find in your description

[@Samanbajwa]

How are you supplying 5V and 12V at the same time from one battery?

[@muhammadusmanmalik1166]

Excellent Video Bro showing ur excellence and ur skills

[@hasanavsar7680]

Hello. Thanks for this nice sharing. I have built this robot and almost done with the project. But I have a problem. I cannot make the mode changes on EZGUI. My robot is almost always on SIMPLE mode. I do exactly the same as in the video. But I cannot switch to the POS.HOLD mode. Do you have any idea what might be wrong?

[@abdouabdellah2579]

Hi , I built the robot and thereis problem in the programme , can we communicate ?, I need help

[@Gabrozzooooo]

Are you sure that i can use the step motor in the description of video, whit A4988? My robot doesn't work. I put the Vref of driver to 1.10V. HELP ME!!!

[@rajendranaiduj]

I have the same problem. What is the current required?

[@Бегемот-р3с]

Какой режим шага у драйверов? 1/8 или 1/16? What configuration steps have a4988 1/8 or 1/16 ?

[@leandro-sausa]

Hello, Would it be possible to use a Nema 17 8V motor? What do I need to change?

[@danielwatts3718]

Great video, fantastic production quality

[@threesecondreview1726]

Is there a way to do this without any soldering? I shake too much to solder.

[@dkmodder4405]

Hey RZtronics! I have a question; how did you learn how to build electronics and where should a beginner like me start self-learner. Can you reccomended resources or products I should get? Thank you!

[@ammaryasser4730]

You can learn from the official arduino site!

[@sunsetthireach3223]

I have an MPU 6090 can i use that instead of yours

[@thedevil6890]

I think i think they both are the same

[@abdielaguirre8635]

hey @RZtronics . one question do we have to use the Real original arduino nano because i tried doing this project with one purchased on amazon but i can't get it to work do you have any tips on why isnt working or how we can fix it ?

[@RZtronics]

Any Arduino Nano should do the work.

[@sunsetthireach3223]

Can I replace the 12v lipo battery with 18690 batteries how would that affect the circuit diagram

[@praints]

what do you call those pin extenders that you put your nano and drivers in?

[@Culturedropout]

Very nicely done, although I'd be worried about the motor mounts snapping the plexi under too much torque.

[@xeither289]

GOD JESUS TOLD US TO LOVE GOD AND TO LOVE ONE ANOTHER! LET'S NOT DESTROY THIS WORLD! NO WAR!!! БОГ СОЗДАЛ ТАКОЙ ПРЕКРАСНЫЙ МИР! НЕ БУДЕМ РАЗРУШАТЬ МИР! ПОЛЮБИМ БОГА И ВСЕХ ЛЮДЕЙ! НЕТ ВОЙНЕ!!

[@DeepakRajput-ug7sw]

I just wanted to question that ....can ve replace its battery with cheaper one...like car battery or any kind of that

[@mariogamer929]

How is a car battery cheaper?

[@aramjisyahstudio8638]

can i use different motor like GA12-N20 or 25GA-370 for this project?

[@developedbyharsh]

Can we use drv8825 stepper motor driver instead of a4988?

[@thunderbolt997]

woah woah easy on the soldering iron flexing haha :D great vid

[@thiagomesquita7744]

Can I use an HC 06 bluetooth module instead of the HC05?

[@harshikeshwadgave2018]

Nano,hcmodule,bttry can be placed anywhere , If we place any where it will balance

[@gauravsuryawanshi4781]

yes

[@syclonusmusic]

how is this design for something heavy like 3000 lbs? a old design i had for balancing was with gyroscopes thanks for the video.

[@syclonusmusic]

@@RajinderYadav thanks ! mine were heavy about 15 feet tall. so speed with weight and stability is where i left off on it , biped robotic frames

[@vinithviswanathan3083]

Guys.Can you help me with me project.I am problem with the the connection of HC 05 to EZ-GUI android application

[@caseyngo4092]

Can you put a new link for the angle brackets? The one listed is unavailable.

[@pritigangavkar2898]

Did you put copper trip in soldring

[@randalllim8113]

@RZtronics I dont seem to have the details of AUX at 7:31..

[@vinithviswanathan3083]

Me neither..have you overcome this issue?..please reply me

[@_aawawaa_]

the schematic in your website is incomplete, the hc-05's rx tx is not connected to anywhere

[@imagesky3806]

can you say something more about calibration? my robot does not drive sideways but front and back

[@mikeyisinoz]

Very nice! One question. Where is the fuse?

[@MunnaKumar-jp1xr]

Ez-GUI Ground Station while connect with its shows only no data received..why this problem

[@RZtronics]

Change your bluetooth module's baud to 115200

[@علیرضامقصودی-ل3ي]

Its didnt work​@@RZtronics

[@jojo2massol]

link for code is dead ... I made the same project, but i have a problem with stepper motor control : i use a 'tone' function, but this function can be used by only one pin at time ... Do anyone have an issue ?

[@canhchimhaiau597]

I really like it. Hope for more young people can see it and take out more Idea.

[@alimahmoud8708]

Great work man! I got a question, What were the criteria used in evaluating the control algorithm?

[@lokeshkumar93]

Hello this is a great tutorial.. In the circuit diagram.. You didn't show where to connect HC 05 Tx Rx pins.. are they connected to Rx,TX of Arduino Nano respectively or any other pins?

[@askvina]

www.askvina.org/post/bluetooth-module-hc-05

[@danielzuniga4544]

Se puede usar una batería normal no? Es muy caro el lipo, aunque no sea recargable

[@MrWasim301]

A4988 driver heats up and burn again and again. any guide for motor connection my robot just moving not balancing.

[@walkervoichick6997]

Do you make quads? Just wondering cuz u used an XT60, popular in racing quads

[@incxxxx]

My MPU have to be vertical, otherwise robot does not work properly. Why? When gyroscope is horizontal robot i's going crazy.

[@playlikeaman]

Sir where can i get the schematic it doesnt show in the link you provided tia!