A Two Wheel Gimbal Motor Powered Robot
This robot moves by turning its wheels against a pendulum weight and controlling its speed using feedback from a tilt sensor.
The robot is controlled by an ATMEGA2560 using an Arduino Mega electronics board with a hand-built motor driver board stacked on top. An XBee radio transceiver communicates with another XBee mounted on a remote joystick to provide steering. A 3 cell 1500MAh Li-Po battery powers everything.
A Pololu "MinIMU-9 V2" gyroscope, accelerometer, magnetometer package is used to sense the robot's orientation. The measured gyro rates are integrated to yield a tilt angle, which is then drift-corrected using the accelerometers.
A feedback loop then drives the motors fore and aft, working against the pendulum in an attempt to neutralize the measured tilt angle. Adding an offset to that angle using the joystick causes the motors to "chase" the tilt angle, driving the robot along the desired path.
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#projects #robots #arduino
