making a Balancing Robot (part 1)

First steps in making a balancing robot using stepper motors, Arduino and MPU 6050
music: musopen.org/music/1591/alexan...

[@TheMadManPlace]

Hi Kris Maybe one day when you have nothing to make a video with, you can show us the shelf where you keep all your "old" projects, the ones that at "gathering dust" as you put it. Even the ones that were not so successful - I am a firm believer that everyone should be able to learn from others, their successes as well as their failures and you never know, someone may be able to come up with a solution to a problem that no-one else has thought of. In the meantime please keep it up - we all find your videos super interesting (and the music is also very soothing).

[@divyebhutani]

You really gave a life to raw material.

[@haplo8033]

Very neat work. Impressive!

[@tomshirvo1]

YAY you're back, I have been having some bad cravings but that hit the spot!!!

[@KrisTemmermanNP]

+tomshirvo1 Thanks, glad to be back :)

[@UncoveredTruths]

awh yay! missed your videos, good work as usual!

[@KrisTemmermanNP]

+The Forgotten Lies Thanks man, glad to be back!

[@JeffryRice]

Nice, your shop is amazing! keep up the great work!

[@KrisTemmermanNP]

Thanks!

[@lancegaming4200]

This guy is awesome, I just got into robotics but I have been programing Java for 2 years

[@sweetali4578]

i like your work. keep going best........................ wish you alll the best

[@smiley235]

Nice construction quality! You sound so much like that greatscott guy.

[@Juanpavz]

I love your projects, thanks for share it!

[@KrisTemmermanNP]

+JuanPa Vizcardo Thanks man!

[@syogamurthy]

i like his workshop more than the robot itself

[@facuclop]

wow!!! dream toolbox!!! nice videos.

[@KrisTemmermanNP]

+facuclop Thanks man!

[@vero6646]

Hi Kris, Did the code has something in common with the B-robot evo code?

[@KrisTemmermanNP]

+vero Maybe, I don't really remember. But I definitely looked at the b-robot code while researching this project :)

[@Tinkerlog]

Great job, Kris! That are some beefy motors!

[@KrisTemmermanNP]

+Tinkerlog Thanks man! I made a prototype with nema 17 motors, and those where not gonna pull it. so I upgraded a little bit.

[@ABID5]

wow !😮

[@IlhanNegis]

procrastination is good, starting new project is even better.

[@KrisTemmermanNP]

+Ilhan Negis It sure is :) Thanks!

[@nico_jona]

cool video man! do you use kalman filter for the mpu 6050?

[@Infinitesap]

hi and thanks for great videos. what program do you use to draw your designs?

[@flippergat1]

Nice work (as always)! I was hoping something new would turn up. And this is my current project as well. But more as something for carrying my thee :D. Do you have more information on the Nema 23 motors and the drives? Because on Ebay they aren't cheap, so I would like to make the right choice on what to order:D.

[@KrisTemmermanNP]

+Vincent Bomon Hi Vincent, thanks!  The drivers are leadshine M542 and no-brand 1Nm motors. But you really don't need those if you just want to carry some small things. You also need +20V for the drivers etc... I made a prototype before this with nema 17 motors, lighter wheels,and big-easy-drivers. And those worked fine up to 2Kg load ( +- 8 cups of thee :) )   Also, most people use brushed motors with encoders. Maybe they are cheaper if you have to buy them anyway. And there is much more info about those setups out there. Hope that helped :) good luck with your robot!

[@cartech999]

Kris, excellent video. I was curious if you would consider making a video showing "art to part" for your CNC milling machine setup. Thanks! -JHG

[@KrisTemmermanNP]

+Joe Gartner Thanks Joe! Ill think about it. In the mean while you can check out videos of "NYC CNC", he does a great job explaining how he does it (and its pretty much always the same, for whatever machine or what software you use )

[@laurentcnc6662]

Hey, nice new project. I saw some leadshine servos amplifier :-) any feed back close loop in this project ? keep work on, sounds good !

[@KrisTemmermanNP]

+Laurent CNC Hi Laurant. Thanks! Those are just stepper drivers. There is no feedback directly on the motors. But there is of course a IMU -> motor feedback loop.

[@markporter2133]

Nice work Kris.

[@KrisTemmermanNP]

+Mark Porter Thanks Mark!

[@TutocarloCV]

nice

[@amyhuang6586]

Nice robot!!why do u use step drivers instead of brushless motors?

[@VitorVitalino]

Hello Kris, I first wanted to congratulate you on the design of all the examples of self balancing robot I saw yours is the best. Secondly, I wanted to ask you a hint, because I am working on a similar project at the Federal Technological University of Paraná, Brazil, and I started shortly and needed some references. Could you give me some reference to both the wiring connection and the pinout, and the programming used? Thank you very much.

[@Ben-lv8hz]

great video sir

[@KrisTemmermanNP]

+Rubén “Wolf San” Sánchez Thanks man!

[@oscarwilbers]

Hey Kris, Great stuff, as usual. BTW can you tell me what 3d printer you are using in the 'Balancing Ball: PID controler test". Thanks

[@KrisTemmermanNP]

+Op W Thanks! Its some kind of rep-rap variant I made/put together at a local workshop.

[@mareknetzel]

Thanx Kris, your videos always inspire me! What software runs your cnc?

[@KrisTemmermanNP]

+Marek Netzel Thanks! It's a "local" product ->www.edingcnc.com/

[@bbpham8787]

hey. this is a nice 2-wheel self-balancing robot, i have ever seen. I intend to make a one like that for my thesis 1 in my university. Can you give me some tutorials about product ?

[@thomaskoot4044]

Your vids are so cool! Where are you from btw?

[@KrisTemmermanNP]

Thanks! Belgium, Antwerp :)

[@ardayilmaz9973]

Nice workshop, like a dream. What is your actual job?

[@KrisTemmermanNP]

+Arda Yilmaz I make interactive installations for advertising agencies (as a freelancer) Mostly graphics programming, but also some physical stuff , that's where the workshop comes in :)

[@Spirit532]

Nice video, as always! Those steppers sound like they're not happy with the whining and all, at the end of the video. Turn up the current just a tad, and it should be much better.

[@KrisTemmermanNP]

+Spirit Thanks man, Ill try that!

[@mechatronix3754]

I'm currently working on a balancing robot too! The motors I am using a servo motors for easy control. Video is on my channel so if anyone has tips let me know!

[@LuizBordignon]

Hi, what is the software do you use for 3d project?

[@tylergarza8695]

it looks like it could be Autodesk Fusion 360. this is a fairly common one but i'm not 100% sure this is what it is

[@stewjw]

You could add a wireless controller to remotely control it. Not an original idea but it would make it a bit more fun. I thought stepper motors didn't work too well for balancing robots maybe you'll prove me wrong.

[@KrisTemmermanNP]

+stewjw Wait till the next video, for both of your comments ;)

[@tonyjohnson4572]

Thank heaven I have a 3D printer.

[@luissegura6582]

why do you use an arduino instead of a micro?

[@KrisTemmermanNP]

Why shouldn't I? Its fast, easy, does the job....

[@govorilegko]

How to make it by steps? (step by step) and you will get 1M views :)

[@quantomic1106]

How can you afford all these awesome toys?

[@KrisTemmermanNP]

I'm a good self employed programer with nice clients. So, I can make an "investment" every now and then ;)

[@quantomic1106]

Awesome!

[@SirArghPirate]

Are you using the arduino for controlling this robot or did you replace it with a pi?

[@KrisTemmermanNP]

The Arduino is still the balancing/motor controller. The Pi sends the target speeds and rotations to the Arduino.

[@SirArghPirate]

Okay. I had som problems understanding the code for the motor. You don't use interrupts to time the pulses for motors?

[@KrisTemmermanNP]

no, there are timer interrrupts: github.com/neuroprod/balancingRobot/blob/master/arduino/libs/NP4/NP4.cpp line350 The functions are in the ino file.

[@SirArghPirate]

I see. I wasn't sure what that function did as I wasn't familiar with some of the functions inside it. I guess it's not directly transferable to for instance Atmega328 (Nano or Uno)?

[@KrisTemmermanNP]

no, I don't think so, its Due specific.

[@mvickyjm]

Hi! Your videos are awesome! This robot looks great and I love all the tools you used here! I built a robot like yours, but that balances on a ball. You can check the video on my channel and give me your opinion about it!