How to build self balancing cube

Update 2024-07-15. New version of cube • I tried to make my sel...
Simple way how to build self balancing cube with reaction wheels.
No programming knowledge required.
You need a little skills to use ESP32 with an Arduino (or other) IDE. If you not familiar with ESP32 use Arduino nano.
You need a little electronic and soldering skills.
Also needed:
ESP32 or Arduino nano controller,
MPU6050 sensor,
three Nidec 24H brushless motors,
500 mAh 3S1P LiPo battery.
Cube frame is 3D printed.
This project is open source:
github.com/remrc
Last version has an updated balancing point setting procedure.
Important! In this video you can learn how to set the balancing points:
• Reaction wheels for be...
3D print files
www.thingivers...

[@hydropage2855]

Beautiful, thank you for the 3D printer files, but I think I’ll do the math and code all by myself

[@allthumbstom4019]

Thanks for sharing! A self balancing cube is now on top of my project list.

[@ruenjou]

Great engineering project that involves mechanical, electrical and software designs. Subscribed!

[@Henrik229]

Thank you for uploading your files! I just ordered the motors and am currently printing the parts for it.

[@ugetridofit]

Thank you so much for sharing the code and 3D files!!!

[@alexeysharonov7765]

This is awesome! Thank you for sharing the code.

[@liemph]

Thank you for sharing the codes and the 3-D print files. Much can be learned from them.

[@Henrik229]

Just finished building mine. Thanks for sharing the files!

[@ReMRC]

Video?

[@tayeki8876]

hey, what kind of LiPo battery you have used, whats the operating Voltage of it ?

[@oscarjarakrause]

¡Excelente video! Con esta experiencia Ud. estará despertando grandes inquietudes y desafíos a las mentes jóvenes. ¡Lo felicito! 😉👌

[@MirkoPavleskiMK]

Thanks for sharing. GREAT video , I will try to make the device as soon as my parts arrive.

[@KevinAkaSam]

Thanks!! Finally :D I’ve been waiting for this since the first time I saw your videos :)

[@seddikmekki34]

Amazing project and very demonstrative video! Kudos !

[@jonno1130]

Got mine up and balancing. Its memorizing.

[@miketaussig2141]

Hey, neat project! Thanks for making it open source. Do you have any sources available for the theory you used to model the system, or even any general equations that you used? Thanks for your time!

[@ReMRC]

Thanks. I didn't study any theory. I didn't calculate anything. Only some experience and tuning.

[@miketaussig2141]

I finally got around to building this, Im almost done with the project! I have one question, I emailed you about it. Thanks again for the cool project!

[@jiveptaourirt4883]

Hey i'm also working on this projet for m'y final test AT school i have did you found som teorical source beacouse i have problem woth my pid i dont fond thé good

[@gr82moro]

one of the best project I've seen !

[@fxmoya6725]

Congratulations and many thanks for sharing your project... I am waiting for nidec 24h (1 month with aliexpress). I will add an oled 1306 to show gyro & acc data. I am preparing wheels with 6mm steel balls (with respect to 70g weigth).

[@ReMRC]

With steel balls... Interesting. but it's harder to do than bolts and nuts.

[@alexeysharonov7765]

Thanks!

[@Schick3r]

That's sooo cool! the greatest respect to you! thank you for sharing.

[@coconut_frr]

now do the pyramid version. tbh this is crazy mix of engineering and coding / modeling etc i could never do that

[@kilnen6493]

Thank you for this video. It helps a lot.

[@shaunhay]

Thanks so much for sharing this. Incredible :D

[@enTyoiable]

Awesome job! busy building one now. Is it at all possible to share the fritzing files and parts used?

Thank you for sharing, I like it.

[@dhruvagarwal4426]

Hey mate really great work do you mind showing the wiring diagram a bit more detailed if that’s possible

[@conetablebe]

hello, great project, I plan to make the version with the esp32. I wanted a precision concerning the transistor pn2222, on your plan github esp32 concerning Q1pn2222 B=? C=? E=? because the wiring of Q1 for the arduino version indicates E=gnd C=Bz1 B= R4. so I have a doubt for the Q1 esp32 version. thank you and nice job

[@ReMRC]

Yes, for PN2222: E=GND, C=Bz1, B=R4. I use different transistor...

[@conetablebe]

@@ReMRC thank you

[@conetablebe]

hello, I just finished mine with an esp32 with a pcb, different stl for gluing and different and much cheaper nidec. I have to paint the chassis, I'll post a video in two or three days.

[@ReMRC]

@@conetablebe Cheaper nidec? I'm waiting for the video.

[@mattiasfagerlund]

Very cool! Could you make the cube spin by rotating all the reaction wheels at the same time, in the same direction? I'm thinking adding a constant rotation to all the wheels should cancel out everything except a spinning torque...

[@ReMRC]

Like in this video? kzbin.info/www/bejne/eqTLiJiDq9mDp8k

[@Henrik229]

@@ReMRC exactly like in the video! It would be amazing to be able to control the spin wirelessly over the web interface.

[@ReMRC]

@@Henrik229 Yes, it would not be difficult to do so.

[@asunasposibol]

Thank you very much for sharing your projects!! I am half way building the cube, and It seems like my parts are a bit smaller than the ones I see on the video. Can you please tell me:Did you upload the stl files of an smaller cube? For example, the walls of the cube are 152x152 mm. Also, it seems like you put double nuts.

[@ReMRC]

Smaller? Why do you think? It's the same.

[@asunasposibol]

@@ReMRC You are right! My appologies!! I've seen on some of your videos that sometimes you put all the bolts and nuts, and some other you don't. How do you figure it out? Try and error? Or there is any formula to make and approximation function of the total mass?

[@ReMRC]

@@asunasposibolDifferent projects require different weights. E.g. unicycle with Nidec is heavy, so a heavier wheel was needed.

[@FranPastorini]

Amazing! Best self-balancing cube I've seen! Could you please give me some reference on where can I Learn more about the method you used for the control method and your tilt estimator algorithm?

[@ReMRC]

I learned by doing a lot of stuff like that...

[@FranPastorini]

@@ReMRC That is awesome indeed! Could you give me some explanation on how you estimate the tilt with only one IMU?

[@ReMRC]

@@FranPastorini One is not enough? Of course, can be done better. But this is simple way.

[@FranPastorini]

@@ReMRC Yeah It is clearly enough because your cube works awesome with only one IMU! I'm just trying to understand how it works a little bit, I'm pretty new to this kind of project😵‍💫. Sorry if I'm being annoying😅 but I was taking a look at your code and This caught my attention, robot_angleX += GyZ * loop_time / 1000 / 65.536; Where does that 65,536 come from?

[@ReMRC]

@@FranPastorini You need to read about reading data from MPU6050 (raw data).

[@marcio6498]

Excellent work.

[@Darknynja2]

I love the content I just hate reading so much. I’m a better listener than I am a reader. Haha.

[@MrDonrecardo]

one more question , is the transistor connected Emitter > GND , Collector > Buzzer , Base > 6.8K Resistor ?

[@ReMRC]

Yes, correct.

[@MrDonrecardo]

@@ReMRC Thank you , I will start building now

[@Wilmox]

Wow such a cool project! :) I was wondering, what type of connectors do the motors use? It looks like they go from motor connector to female jumper, what is this cable/connector called?

[@ReMRC]

ZH 1.5mm. But they come with motors.

[@LeventeDaradici]

Big like ! Respect !

[@mrpoulay6121]

Fantastic project, well done. The result is very satisfying to see and your video is quite clear and the steps to follow. I have one question regarding the motors, what made you choose the nidec 24h for this project ?

[@ReMRC]

BLDC motors with controller inside. This make project very simple.

[@tayeki8876]

hey Great Project ! i currently working on my own and wanted to ask you if you could provide the specific Model Numbers for the Nidec 24H Motors, as there are a few models, also for the LiPo, which Operating Voltage does it have ? Best regards

[@ReMRC]

LiPo 11,1V, Nidec 24H404H160.

[@tayeki8876]

@@ReMRC thanks for the quick response ! i bought a similar modell of the Nidec 24H, should hopefully still work, is there any important limitations / details for choosing the right LiPo (except the votage), for example the weight or dimensions?

[@ReMRC]

@@tayeki8876 Small battery - 450-500 mAh.

[@franciscovalles2475]

Great project indeed!! The motors are 12v? How do you power them? Directly with the 12v battery or with a step-up regulator? Thanks!!

[@ReMRC]

You see the control board in this video. This is everything. There is no step-up regulator.

[@Henrik229]

The battery is 3p1s so the nominal output voltage is 11.1v that is enough for the motors. The motors are driven by the internal esc

[@g8sdp11]

Hi, thank you for sharing such an impressive project! Can you please provide us with links to trusted (legitimate) online retailers where we can buy the necessary component (e.g. motors, battery, sensor, etc..)? Thank you in advance!

[@ReMRC]

Trusted? No, I don't have any.

[@javid211]

Great project! Can you post a wiring diagram when you get a chance? It would be really helpful

[@ReMRC]

I add schematic to github.

[@stefsnow9440]

Hey, we are french people and we have a question: What is the PCB prototype what is his function. Thank you for amazing explanation!😁

[@ReMRC]

I did not understand the question. Sorry.

[@김민호-d2r]

We are using the initial commit code (2022.5.8) of the GitHub page to use the code and tuning method of this KZbin video. However, there is a problem with the motor in balancing. During the motor tester, it was confirmed that it was moving well according to the code, but during balancing, the motor repeatedly spins and stops too fast at full speed. So here's what I'm curious about. 1. Whether this problem can occur depending on the value of x in the batVoltage(double) analogRead(VBAT)/x) code. 2. We are using a battery of 11.1V 1000mAh and how does this affect the behavior? 3. The offset value measured like a video on KZbin. float offsetX = -1.12, offsetY = -3.86; float offsetX2 = -0.34, offsetY2 = -47.55; float offsetX3 = -33.24, offsetY3 = 19.33; float offsetX4 = 32.86, offsetY4 = 4.12; Thank you.

[@ReMRC]

Try watching kzbin.info/www/bejne/hJzQaoOlns2Nhas If it doesn't work, message me again.

[@jordananderson1594]

Great design, and nice video!

[@0creepstone0]

nice, i want to make one for a long time, when is the version that jumps alone?

[@steffen_kuellmer]

YOU ARE GENIOUS! Chapeau!!!

[@answerth]

I wonder if you put a flat surface on one of the corners of the cube If you could stack them

[@marcocalmetti8964]

Fantastic project I'm trying to realize it! One question, how many mm are the M4 screws in the reaction wheels?

[@ReMRC]

I use 8mm. But you can also use longer ones (12-16 mm). Flat head bolts. Others will not fit.

[@MonicaPerez-vg1it]

Hello, amazing proyect!!, I wanted to ask you where did you buy the LiPo battery? I'm having trouble finding one that powers 11.1V, does it work with 3.7V?

[@ReMRC]

Of course not. Only 3 cell battery.

[@tinalina1808]

What a brilliant project. I would like to rebuild this cube. But I'm missing the specification of the transistor Q1 (in the video min. 4:56) Have I overlooked something? Many thanks for the help!

[@ReMRC]

Lots of confusion with that transistor. :) In video I say "transistor and two resistors". In schematic - one resistor. This is because I use mosfet. You can use PN2222 or something similar (n-p-n).

[@tinalina1808]

@@ReMRC Thank you for the fast answer. I have ordered the first parts and I hope that I will be able to realize this amazing project.

[@tinalina1808]

Check! Last weekend I managed to balance the cube. Many thanks for the great instructions and the great support you provide here! - like more of it :-)

[@Nick-wl4qr]

@@tinalina1808 any special tips not mentioned elsewhere?

[@tayeki8876]

Hey, I really like your project, want to build myself, which screws and nuts have you used ?

[@ReMRC]

M4 for reaction wheels.

[@hlking9039]

What do you mean in the video is that the 12.6V voltage is divided into 3V proportionally through the resistor, because of the limitation of the port measurement voltage, and then converted to the actual voltage through the code?

[@ReMRC]

No, I am measuring the battery voltage for over discharge protect. This requires a simple divider of two resistors.

[@FranciscoValles-bp5ub]

Dear ReM-RC, looking at your code I got the following question, what are these specific offsets for? float offsetx= -0.99, offsetY = -3.43 float offsetx2= -31.24, offsetY2 = -19.05 float offsetx3= 30.4, offsetY3 = -19.21 float offsetx4= 0.17, offsetY4 = 35.9

[@ReMRC]

Didn't you watch the video? There is about it.

[@ivanliu1909]

Great project! I am think about modify the cube to a smaller dimension, hence the cube weight and position of the sensor will change. Which part of the code will I need to modify? Thank you very much!

[@ReMRC]

This is a bad idea. Everything should be changed.

[@miguelsampaio6199]

Like your videos and the cube is top. Wath are the dimensions of the square ?

[@ReMRC]

15x15x15 cm

[@tayeki8876]

Hey great Project ! building one myself currently, which length does the M4 Bolts for the reaction wheel have ? Ist 20mm good ?

[@ReMRC]

I use 8mm. Look carefully at the blue cube. kzbin.info/www/bejne/d3u0i3l-f9-qqpY Flat head bolts. Others will not fit.

[@hlking9039]

Thanks for sharing, this is a great project!I don't know if you have time to share the model of the circuit connection or electrical components

[@ReMRC]

I would like to share, but the circuit connection is only in my brain. :) I'm a little surprised that this is needed, because where is connected ESP32 pins you can see in the source.

[@ReMRC]

I add schematic to github.

[@deant6168]

hi, do you have a wiring diagram or schematics for the electronics

[@ReMRC]

Really needed? These motors are controlled directly from the ESP32. Not need any drivers. So, circuit is really simple.

[@deant6168]

@@ReMRC ok, thanks I will look at the connections abit closer

[@Rossobimbo]

Great project and thanks a lot for sharing this. I would also appreciate of you could share the diagram. Thanks

[@ReMRC]

@@Rossobimbo I will look for a program that can do this. And... When I have some time...

[@Rossobimbo]

@@ReMRC fritzing is a good one

[@tayeki8876]

Hey really Great Project !! i am currently building one myself, my question: in the schematics of the ESP32 Version you used a 35V 100nF Ceramic capacitor, but in the Arduino Nano Version you used a 16 V 100nF one, could i use the 35V from the ESP32 Version in place of the 16V one in the Arduino Nano version? or would it create any problems ? best regards :)

[@ReMRC]

Of course 16V is enough.

[@ayety0511]

Great project and in the process of making one myself! The video and github never mentioned about adding a Bluetooth module when using a arduino Nano, how would I have to connect the Bluetooth module if according exactly to the schematics given in Github and would I have to make any changes to the code if I did? I tried searching if you mentioned it in any of your videos or comments but I couldn't find a answer, sorry if I am asking a repeated question.

[@ReMRC]

Ask google "how to connect bluetooth module to arduino" and you get many answers. Not need to change the code.

[@coolranchluke]

Awesome project! It's there any way to reduce those oscillations when the cube is balancing?

[@ReMRC]

Always possible to do better. But here is a simple way.

[@Henrik229]

Danke!

[@tmln4357]

love your project im building it currently and there is a problem with the buzzer it keeps on buzzing for some reason can you help me on this

[@ReMRC]

If you use PN2222, check the connection. startingelectronics.org/tutorials/arduino/modules/active-buzzer/arduino-active-buzzer-circuit.png

[@user-jj7sv5zd1v]

How much V does the LiPo have? 11,1V? 14,8V? And what voltage do you measure that you have to input into the source. The voltage of the battery in its full state? And the 5V regulator: Is 800mAh output enough?

[@ReMRC]

3S LiPo. I measure battery voltage. When voltage drops to 9.5V buzzer beeps. 5V 800mAh enough. Need much less.

[@Nick-wl4qr]

I saw you added a new schematic to github for using an arduino. Does this have any advantages over using an esp32? I also noticed you didn't include any of the red wires in this new schematic. Are those not needed? What were those actually for in the original schematic. Thanks!

[@ReMRC]

Both work the same. About red wires are written on GitHub.

[@marielizysurourcq]

I would BE you, i would paint everything Harry potter style because that is what we think of when we see the gears turning

[@esope60]

Hi ! Thank you for this model. Mine is almost finish but I have a problem with motors calibration, and I already watched your video that talk about problems and question, so sorry. First when I connect battery, one of motor boot immediatly, even if calibrating not done. I send "c+" command bluetooth to stop it and calibrate then "c-". When c- is sent another motor, 2 motors turn. it turns like fan, not one way and other way (for me at this moment, motors souldn't turn I think). I made the cube exactely in the same way like you and respected all the angles (motors, edges, sensor MPU6050), nevertheless my values are very different than you. As it was not possible to calibrate with your values, I change the part of the code where we can see "first edge between -10 and -20, etc." I tried another sensor, same values. My results are these by bluetooth terminal : calibrating on X: 0.39 Y: 24.70 Third edge OK. calibrating on X: -31.67 Y: -31.51 Second edge OK. calibrating on X: 31.37 Y: -31.02 First edge OK. calibrating on X: -0.43 Y: -11.97 Vertex OK. Calibration seems to be OK with these values, but why motors are turning fast without reverse, and why on a edge there are always two motors turning instead of only one ? I verified wires 1 to 8. first side, two motors turn, second side, two motors turn, third side, all motors turn. Have you an idea ? I use an ESP32 D1 MINI (also with wroom32). I compared GPIO to be sure that same input/output are OK, PWM, etc. I specify that with the "test_motors.ino" the motors rotate slowly in one direction then in the other, and one after the other,so connection OK. Other thing, I used a buzzer seems to be the same as you but impossible to hear song, only a little slam membrane. To fix it I had to modify beep() function like that (a digitalwrite don't make song, mine wants a frequency) : void beep() { tone(BUZZER, 1000); // Send 1KHz sound signal... delay(70); // ...for 1 sec noTone(BUZZER); // Stop sound... delay(80); } Thank you a lot 🙏I love this project and I hope to show it to you in a few time ☺

[@ReMRC]

First of all: does the motor test work normally? About the buzzer - apparently you are using a passive buzzer. Active is required.

[@esope60]

​@@ReMRC thank you, Ok for buzzer, It's not really a problem now with "tone." but thank you for this detail (I didn't see "active" requirement, my bad). Yes the motor test is OK, turn one motor clockwise and counterclockwise slowly, 1, then 2, then 3 and loop. On one of three side the three motors turn, as it was on vertex but not. Never only one motor turns

[@ReMRC]

@@esope60 Something is mixed up though. Two motors together never work... Also tone() function will interfere with PWM... I don't know how it can interfere with ESP32.

[@esope60]

@@ReMRC So You are very talented... I cut the tone. command for the moment, and motors don't turn anymore after the boot... I mixed two motors and now only one motor turns on his own axe. Each motor command the good edge. I've done again calibration. But motors turns without catch the balance. Is it normal motor turns everytime I do the "c-" ? I do c+, wait on balance point; then "c-", motor turns until I do another "c+" or put the cube on a face. On your video you can turn on another edge without turning. My motors seems to be too slow to change direction and catch up balancing. thank you

[@ReMRC]

@@esope60 Motors should only start close to the balancing point. If the cube falls, the motors turn off. Nothing gets in the way of balancing? Wires?

[@Nick-wl4qr]

This was fun to do. I'm thinking of customizing my cube. Two questions: How much weight would you say is too much weight for the whole cube? Does the pointiness of the corner play a role, would a rounded corner be fine?

[@ReMRC]

The higher weight, the worse. The corners can be rounded, it won't make a difference.

[@vitrola_exe]

@Nick did you manage to solve the problem with the motors running at full speed?

[@ReMRC]

@@vitrola_exe :) There is no such problem. You probably didn't watch the videos carefully (both).

[@another_mechanical_engineer]

Could you possibly make a video on how you wired it for the electronics noobs?

[@ReMRC]

I don't think so. This is to difficult...

[@another_mechanical_engineer]

@@ReMRC Thanks for the response man, would you happen to have a gerber file for this then?

[@ReMRC]

@@another_mechanical_engineer Gerber? You mean PCB? No, you can see my "PCB" in video.

[@Nick-sv3yf]

Is it correct that you have the encoder +ve connection to 3.3v ? The datasheet for the motors says 5v. (I know you aren't actually using the encoders but I wanted to wire it up properly just in case you decide to use them)

[@ReMRC]

A very fair question. I tried it - the encoders work perfectly from 3.3V. I use them in other projects. e.g. here kzbin.info/www/bejne/d4fCmKOAhc2jY9U

[@jeromewong9945]

@ReM-RC is it possible to get the arduino to have an output to light up an led upon it balancing ? if so which part should I add my if conditional

[@ReMRC]

Of course this is easy. But I don't have a cube with an Arduino nano right now, so I can't do that.

[@jeromewong9945]

@@ReMRC hi rem its been a while, i working on the cube again i didnt do the light anymore, my cube(s) work great. so happy i made another, but i wanted to 3d print a shell to hide the electronics, now the whole thing is too heavy and it keep falling after 3 seconds. are there ways to get around this issue? thanks in advance and looking forward to your next balancing video haha

[@ReMRC]

@@jeromewong9945 Heavy? Photo? Video?

[@jeromewong9945]

@@ReMRC can I email you the photos instead

[@ReMRC]

@@jeromewong9945 You can find the email on KZbin "About".

[@mrchenhuan]

Great project! Can you please let me the size of prototyping PCB? 50x70mm?

[@ReMRC]

Yes, 50x70mm.

[@franvaz2318]

Hey great project!! I was wondering if u could recommend some alternative motors incase these aren't available

[@ReMRC]

it available on aliexpress and ebay.

[@franvaz2318]

@@ReMRC I'm from India so it's a tad bit difficult for me to acquire them here

[@FreeFallin20383]

For a beginner, how difficult would it be to develop the control loops? I have a background with some control experience but not mechatronics.

[@ReMRC]

It is impossible to answer difficult or not... It's different for everyone.

[@rave5636]

Thanks for sharing - Question: in the wiring there is a transistor Q1 - which Type is used here ?

[@ReMRC]

You can use PN2222.

[@MrDonrecardo]

In what way would it affect the performance if the reaction wheels weigh more or less than the 70g . I assumed a heavier wheel would have more inertia and control the cube easier

[@ReMRC]

More inertia, but also more total weight to control (cube weight).

[@hlking9039]

I succeeded

[@ugetridofit]

I didn't see mention what the voltage the motors are powered from. Are they getting power from the battery or the 5v regulator?

[@ReMRC]

Of course, power from the battery.

[@RGDot422]

Is it possible to stabilize it with the center of mass misaligned with respect to the fulcrum?

[@ReMRC]

No, center of mass is important.

[@vitrola_exe]

In the esp32 schematic, Q1 would be PN2222 or 2N2222? With the 2N2222 transistor is Emitter > GND, Collector > Buzzer, Base > 6.8K resistor? And in the case of the PN2222 it is Emitter > Buzzer, Collector > 6.8K resistor, Base > GND?

[@ReMRC]

Strange problems with this transistor... startingelectronics.org/tutorials/arduino/modules/active-buzzer/arduino-active-buzzer-circuit.png

[@haypierre6627]

Heyy this is amazing !! I'd like to build a Cubli but probably in aluminum and of greater size for an artistic project. Is something like 45*45*45 cm conceivable? What would be the subtle impacts on the engineering side? I'd like to build the frame in allu to engrave / paint it :)))

[@ReMRC]

Of course it can be 45*45*45 cm. But need other motors...

[@mark1944]

Got these 12pin motors working. I have discovered that the start/stop pin needs 12v or they remain off. It all looks good now but the motors are turning in the wrong direction. Can that easily be changed in the code? If so could you help me with where cheers

[@ReMRC]

The seller describes these motors in a strange way. PWM from 16000 to 26000 Hz, but he contradicts himself: 1000 HZ 150 rpm, 10000 HZ 1500 rpm, 12,000 HZ 1,800 rpm... It seems to me that he himself does not know. :)

[@AManAPlanACanalPanama]

How much will IT cost Umleitung lincluding 3d prints and the Hardware?

[@ReMRC]

I really didn't count the cost…

[@basiltsakalos]

Excellent build REMRC. What length are the screws you use to add weight to the wheels?

[@ReMRC]

You can use 8, 10, 12 mm. All are suitable. In this video is 8 mm.

[@basiltsakalos]

@@ReMRC Thank you so much for the prompt reply. And the great project.

[@Nick-wl4qr]

@@basiltsakalos What length of M3 did you use?

[@eduardofurtado9880]

good night my friend, beautiful project, but a question: would you sell it complete? I'm having trouble finding some components

[@ReMRC]

I don't sell them... And components are often used. What can't be found?

[@atmankikani9184]

​@@ReMRCcant get the NIDEC 24H motors

[@Joulespersecond]

I'm designing a PCB for this, and I was wondering about the transistor you have in the schematic. Which leg is the collector? Is it the one connected to the buzzer or the resistor? Great stuff by the way!

[@ReMRC]

Collector to buzzer. If you use PN2222.

[@mrpoulay6121]

Hi Mark, Did you finish the PCB at the end? And if yes, would you be willing to share it ? :)

[@tayeki8876]

Hey, have you finished the PCB for this project ? would like to buy it if possible, this would really help me as i am a student

[@nuwave5749]

ReM-RC Love this video. I 3D printed parts, wired everything up with an Arduino Nano but I seem to be tripped up on the calibration set points, no motor spin and all my angles are wrong when sending the C+/- commands? Pretty sure it is something simple, any pointers? Thanks!

[@ReMRC]

Email me what angles prints when you send c-. You can find the email on KZbin "About".

[@nuwave5749]

@@ReMRC Thank you for such a quick response, email sent.

[@pedrofigueiredo1936]

Hey buddy, I’ve decided to build this project but I’m not exactly sure where is the best place to find those motors at least in Europe. Know of any alternative product to replacement?

[@ReMRC]

I don't know where to get it in Europe. But I see no problem buying on ebay or aliexpress. There are no alternatives for such motors.

[@alexl6188]

If I use different material (which means different weight) to build the cube, which part of code I need to adjust? Or the material doesn’t matter? Thanks for making this video and make the project open source!

[@OSNX]

Material shouldn't matter as long as wheels are same 70 g and motors are the same. That's how I understand but I can be wrong

[@alexl6188]

@@OSNX Thanks! I'd like to ask that in "functions.ino", line91, robot_angleX += GyZ * loop_time / 1000 / 65.536, why using the figure 65.536?

[@ReMRC]

The total weight of the cube matters also.

[@alexl6188]

@@ReMRC Got it. I am wondering that how I can modify the code.🥲Thanks!

[@conetablebe]

on my video I put a photo link, you have to modify the stl of the wheels and the three engine supports

[@ReMRC]

Yes, this is the same motors, just a different axle.

[@evgenaverjek]

I printed all the parts, how do I arrange the nuts, is there any balancing tactic? thanks for the project!

[@ReMRC]

Bolts and nuts you can arrange as you prefer. Only symmetric important...

[@MrDonrecardo]

Hi Remi , what transistor did you use to switch the buzzer on and off , One is shown in the schematic but no details as to what is suitable

[@ReMRC]

You can use PN2222.

[@heinzschenk3199]

Great Idea. What is the weight of your Cube?

[@ReMRC]

930 g.

[@claycrews6278]

I am attempting to get the offset values in each position as show in the video, but my X and Y angle is -45, 45. Maybe my MPU is not functioning correctly. Any ideas on how to solve this?

[@ReMRC]

You should try any example of reading MPU6050 data with ESP32. Once the data is successfully retrieved, it will work with the cube as well. This is not a problem with my program.

[@scooterboom4157]

so COOL!

[@KiLL_BiLL_9]

24H brushless requires 24v how it work with 12v battery and 3 of them? not a electrical engg

[@ReMRC]

No, 12-24V. Actually works from 9V.

[@chriscurios]

Is it possible to cut the frame out of aluminum or would that throw off the balance?

[@ReMRC]

Maybe yes. But I don't know how much heavier aluminum would be.

[@hlking9039]

Hello, I really want to make it, I have purchased the required parts, but I have tried many times on the circuit and failed.According to your video operation, the buzzer will not ring in the end. If you connect the motor, it will suddenly start to rotate and burn the circuit. I don’t know where the problem is. do you know why this happens

[@ReMRC]

Burn the circuit? Sorry, I don't understand what's going on.

[@hlking9039]

@@ReMRC It may be that the instantaneous current is too large and the motor wire is scorched.I tried it again, the buzzer worked, and I was about to connect the motor to test it. Bless me to announce the good news to you later.

[@hlking9039]

@@ReMRC Thank you very much for taking the time to reply to us

[@TylerDurdon1986]

Printing it right now. Is there a possibility to Code it that it can stand up by itself like Cubli? Would be amazing!!! 🤩

[@ReMRC]

No, this is simple way, how to build self balancing cube. Cubli is much more complicated. One of its motors costs more than all the parts of this cube. :) Not just the code difference.

[@TylerDurdon1986]

@@ReMRC Thx for the answer. Parts are ordered, Printing parts are awesome. Hope assembly isn`t so hard. Wish me luck ;)

[@ochimanamustapha9683]

Please can you provide the link to where you purchased the motors?

[@ReMRC]

I've been looking now - there are a lot of these motors on ebay.

[@АнтонСапрыкин-н5ц]

Hi. tell me in what order to connect: DIR*, PWM*, PWM*_CH and "start/stop", "forward and revers", "signal speed regulation"? Вo we need a signal from encoder "A" or "B"?

[@ReMRC]

I added a schematic to github.

[@Jose-nf4zd]

incredible

[@freedomishealthy1086]

Can you make it with sides so you can’t see the mechanism, just a mysterious whirring cube?

[@ReMRC]

Yes, possible to come up with interesting designs...

[@freedomishealthy1086]

@@ReMRC Mirrors!