asakasinsky / self-balancing-robot

Self Balancing Robot Arduino - with MPU6050 NEMA 17 and A4988 drivers

Self Balancing Robot Arduino sketch

Note: This readme is a work in progress - the project is still under development

Sketch for a self balancing arduino robot using an Arduino Uno, a MPU6050, NEMA 17 motors and two A4988 drivers.

Wiring

MPU6050 wiring

• GND/VCC shared with the rest of the circuit - perhaps change GND to second arduino gnd.
• SDA/SCL to A4/A5 respectivly

NEMA 17 wiring

NEMA 17 motors with 4 wires scheme:

#### A4988 wiring with NEMA 17 bipolar motors (4 wires) Both motors are wired to their own A4988 * VMOT/GND external power supply - GND can be shared with the rest of the circuit; * 2B - Black Wire; * 2A - Green Wire; * 1A - Blue Wire; * 1B - Red Wire; * GND/VDD shared with the rest of the circuit logic power supply; * MS1 to MS3 all to HIGH to allow microstepping; * STEP and DIR - the input PINs assigned to the step and dir functions.

Current wiring of the A4988 and Arduino - motor wires not connected for image readability sake.

• Orange and Yellow wires are step and dir (respectively)
• All the MS are connected to Arduino 5v

Current state of the robot

• Current state as of: 22/01/2016 - youtube video here
• Current state as of: 03/02/2016 - youtube video here