Self Balancing Robot

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Index

• What is Self Balancing Robot
• Purpose of Project
• Showcase
• Hardware
• Body Design
• How To Use
  • Installation
  • Pin Settings
  • Program Settings
• If you want to PID Controll (Only PID Motor Controll) - ESP32 Nano
  • Pin Settings
  • Program Settings
• Setback & Wrap Up
  • Project Setback
  • Wrap Up
• To Do
• Acknowledgements

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• Preview

• Hardware Diagram

• State Diagram

• Database Diagram

What is Self Balancing Robot

Self Balancing Robot is a robot that stands on its own like Segway. This Robot requires PID motor control and Gyro sensor, and we used L298N and MPU6050.

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Author

Name	Role
raematchaaa	Control Motor, Hardware & Electric Devices, Sense MPU6050, DB
chohongki	GUI (QT), Read RFID, WIFI Socket, UART

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Purpose of Project

1. Deal with Acceleration, Gyroscope sensor like MPU6050 and input these values on control process.
2. Study PID and apply it to control Robot.
3. Control the MCU wirelessly.
4. Get familiarized with other MCUs than Arduino UNO

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Showcase

1. Wireless Data Communication using Wifi AP
2. PID control
3. Access MPU6050 registries to get Acceleration and Gyroscope values
4. Read RFID tags
5. Remote Control using GUI
6. Log Sensor Data into MySQL

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Hardware

• MCU : Espressif ESP32-S3 N16R8, Arduino Uno
• Gyro Sensor : GY-521 (MPU 6050)
• Motors (x2) : NP01D-288
• Motor Driver : L298N
• Wheels : $\phi$ 66mm
• Battery : 1.5V * 4
• RFID : MFRC522

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Body Design

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How To Use

Installation

1. Arduino > Tools > Board > Boards Manager > esp32 (Espressif)
2. Arduino > Tools > Library Manager > MFRC522

Pin Settings

• ESP32-S3

TX 17, RX 18

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MPU6050

SCL 1
SDA 2
INTERRUPT   14

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L298N

IN1 9
IN2 8
IN4 5
IN3 6
ENA 10  // Right Side Motor
ENB 4  // Left Side Motor

• UNO

RX 0
TX 1

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MRFC522

RST_PIN     9     
SS_PIN      10

Program Settings

1. Build uno_final/uno_final.ino into Arduino Uno
2. Build esp32_final/esp32_final.ino into ESP32-S3
   2-1. Connect ESP32-S3 with Serial and Press Reset to find out WIFI IP
   2-2. Open main.py and fix IP on line 20
3. Run main.py

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If you want to PID Control (Only PID Motor Control) - ESP32 Nano

Pin Settings

• ESP32 Nano

Program Settings

1. Build Balanced_Robot/Balanced_Robot.ino into ESP32 Nano

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Setbacks & Wrap Up

Project Setbacks

1. Compatibility of hardware configuration with the planned function implementations was not throughly checked in advanced.
2. Some libraries used during the test period were only available to Arduino Nano ESP32, and not to Esspressif ESP32-S3, causing code integration failures.
3. Unsolved packet loss due to inadequate background knowledge in socket programming.
4. Contrary to the prior expectation, heuristic (trial-and-error) method to determine PID values turned out to be inefficient considering the given amount of time and resources for this project.
5. Inept soldering skills.

Wrap Up

1. Controlling motors by tuning PID requires depth knowledge in many fields as dynamics of the system and difference in tuning methods.
2. It would be remarkable to be able to design model which can be expressed in mathematical equations such can lead to model-based tuning to control PID instead of guess and check method.
3. Reading and analyzing hardware specifications to choose fit materials for the projects and to discover how to use them are crucial.
4. Every pin should be soldered in place.
5. This project enlightened the team on the subject of data communications and computer networks.

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To Do

1. Integrate the code seamlessly.
2. Add MPU6050 monitoring graph on the controller UI.
3. Add keylogger interface for both UI and database.
4. Develop specific real-life application of this robot.
5. Revamp socket communication.

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Acknowledgements

• Espressif - ESP32
• PyQt5 Docs
• I2CDev - MPU6050