Balance-robot Kidbuild
Description
Build your own balanced robot with this project. Based on jjrobots and bluino.com we present an open source balanced robot with enhanced features.
Features
- The source is merged to the platformio enviroment.
- The project is open source. You can build up your own robot for free (only hardware costs).
- The project use standard hardware like stepper, driver, electronics. You can buy it as you like.
- Use the project for education!
- Control the robot via android app
STL files for 3D printing
You will find all STL files and addons in the STL folder. Typically printed without support. 0.2mm thickness and 20% infill should work well.
Electronic schematic
| Pin | Function |
|---|---|
| 12 | Stepper A&B Enable |
| 26 | Stepper A STEP |
| 25 | Stepper A DIR |
| 14 | Stepper B STEP |
| 27 | Stepper B DIR |
| 13 | Servo |
| 21 | MPU-6050 SDA |
| 22 | MPU-6050 SCL |
| 32 | LED Light |
| 33 | BUZZER |
HMTL commands
| Command Character | HTML command after IP/URL |
|---|---|
| Forward | /?fader1=1.00 |
| Backward | /?fader1=0.00 |
| Turn Right | /?fader2=0.00 |
| Turn Left | /?fader2=1.00 |
| Servo Arm | /?push1=1 |
| Beep On | Off |
| Turn Light On | Off |
| Mode PRO On | Off |
| P-Stability | /?fader3=0.00-1.00 |
| D-Stability | /?fader4=0.00-1.00 |
| P-Speed | /?fader5=0.00-1.00 |
| I-Speed | /?fader6=0.00-1.00 |
BOM
| Pieces | Description |
|---|---|
| 1 | PCB ESP32 Balancing Robot Shield |
| 1 | ESP32 DEVKIT V1 board |
| 2 | Stepper Motor Driver A4988 |
| 1 | 3 axis Acc. and Gyro sensor MPU6050 |
| 2 | Stepper Motor Nema17 |
| 1 | Servo Motor MG90S/SG90 |
| 1 | LED 3mm red |
| 2 | LED 3mm/5mm White Super Bright |
| 1 | Active Buzzer |
| 2 | V-Regulator 5V AMS1117 SOT-223 (Kit is presoldered) |
| 1 | Resistor 470 Ohm |
| 1 | Capacitor 0.1uF |
| 1 | Capacitor 100uF/16V rad. |
| 2 | Capacitor 220uF/16V rad. |
| 1 | Rocker Switch Dia. 20mm |
| 2 | Rechargeable Battery Li-ion 18650 3,7V |
| 1 | Dual 18650 Battery Holder |
| 1 | Micro USB Cable (for programming) |
| 1 | Terminal Screw 2 pin 5mm |
| 2 | Female Header 15 pin |
| 5 | Female Header 8 pin |
| 2 | Female Header 4 pin |
| 1 | Male Header 2 pin |
| 1 | Male Header 3 pin |
| 2 | Male Header 4 pin |
| 1 | Jumper cap |
| 2 | O-ring 3mm ID 82mm |
| 8 | M3x8 screw |
| 9 | M3x10 screw |
| 9 | M3 nut |
| 12 | self tapping screws 3mmx3mm |
Wii Remote control
- Connect the Wii-Remote by pressing button 1 + 2 in same time
- Wii is connected, if LED one on Wii lit
- Hold the controller horizontal
- Button 1 = piezo
- Button 2 = eyes
- Button A = servo
- Controll via gyro by pressing the B button
How to flash
The easiest way to flash your Robot is to use the web flash tool. Supported browser: Microsoft Edge or Google Chrome. Follow this link for easy flashing: https://eisbaeeer.github.io/Balance-Robot_Kidbuild/flash/index.html
Manual flashing
- Donwload ESP flasher tool. E.g.: https://github.com/Jason2866/ESP_Flasher/releases
- Download firmware.bin from release page: https://github.com/Eisbaeeer/Balance-Robot_Kidbuild/releases
How to update via webUpdate
- Connect to robot via Wifi
- Open http://192.168.4.1/update
- Upload firmware.bin from release page: https://github.com/Eisbaeeer/Balance-Robot_Kidbuild/releases
How to compile
- Install VS-Code
- Install addon platformio
- clone repository
- open repository in VS-Code
- Compile
Weblinks to get running
Changelog
Version 1.5
Date: 20220819
- Added passive buzzer support
- Robot waiting 45 seconds for Wifi connection. After that the robot will disable Wifi and switch to Wii-remote bluetooth
Version 1.4
Date: 20220727
- Added Wii-Remote as remote controller
Verison 1.3
Date: 20220703
- Added OTA firmware web update
- Optimized web control
Version 1.2
Date: 20220627
- Added joystick via browser
- Added background live view with esp32-camera
- Added light, sound, servo control
Version 1.0
Date: 20220529
Contributor: Kidbuild
- Added Web control for any browser
1. Connect to wifi of B-Robot
2. Open browser at 192.168.4.1
3. Take control via touch screen