Another Arduino project - Your Arduino Balancing Robot (YABR) - Part 1

In this video I build an Arduino balancing robot. The code that I use is self-written and is available from my website. A detailed built tutorial, drawings for the frame and electrical schematics can also be downloaded from my website:

If you have any questions please check the Q&A page first:

The code is explained in detail in the following videos:

[markgreco]

When you click on the motor to view the item it takes you to a 42mm stepper motor. Should it be a 35mm
Is this wrong on your site??

[sergiocastellani]

Joop i still didn't see in the net anybody with such complete and accurate informations/instructions as you. I deeply appreciate your effort and above all your passion. Many should learn from you.

[ottokueng]

Thank you Joop, never seen such a perfect tutorial.
The language clear to understand, no music, and all details to download.
I just ordered the material and will try to reproduce this Robot.
I'm shure, I will learn a lot.
I can't understand those who gave a thumb dawn.
Kind regards
Otto

[Da_Black_Man]

this is one of the first videos I actually see good wire management on the project

[EngineerNotFound]

This is exactly the series I'm looking for to get me started with my next project.
Thank you! I also appreciate the fact that you've used vero board because I intend using perfboard as I'm not ready to design and order PCB's yet.

[neilmcnaught]

Bit late to the party. Just made this Robot and must say what a well laid out and explained tutorial. I used 3D printed versions of the wooden bits. Had a bit of a problem with electromagnetic interference but tidying up the wiring and a couple of ferrite cores on the motor wires solved it.

[hikotee]

I had nothing to do with the project but the description and commentary is so nicely done, it's just perfect!!!

[fabiostranieri]

Hi Joop, before to start with building, I'm studing your code and video. I read the comment here. Why it is so important the exat position of the MPU-6050? Why it shouldn't work if I put MPU-6050 a little bit top or bottom, right, left? Thank you in advance. BR

[tiendatnguyen]

i havent seen the next ep2 and ep3 videos, but i must say that your code and how you express your intruction in this ep1 is very very clear to understand, thank you for that

[amazlin]

Hoi Joop. dankjewel voor je moeite en duidelijk info. ben je nog actief Joop met hobbies?

[MrKkprince]

Great. Why put the Gyro in stand position instead of flat ? For giving plus and minus values from y pitch accelerometer ?

[cigp]

there is nothing better than knowledge explained such that anyone can enjoy it

[DanielGonzalez-hgvk]

HI Joop...Thank's for all this information and this great videos....
Didn't you need the capacitors in paralell with the 12V supply of the A4988 ?
And.. Do this project work usin Arduino Mega 2560 ? Thank's very much...

[muneebaa]

Hi Joop! Thank you for your video. Why did you use 1/4 step mode instead of 1/16? Was it because of torque or to increase the time step?

[timenotspaceproduction]

this is excellent work, how small can this be feasible do you think, based on currently available components ?

[HD-ikri]

Nice projects. I want to ask you if I can use the accelerometer to read vibration in a ball bearing as I am working on a project mixed between mechanics and electronics...Thank you.

[williamna]

Any time I see a video from you I know its going to be interesting as well as educational. I enjoy the simple, complete and interesting way you present your video info. (for anyone who does not understand the concepts/idea of a balance bot and how it works using an accel/gyro look back in Joop Brokking's videos for compete simple to understand videos, using his DIY arduino quadcopter as the platform)

[modsley]

Thank you for the great project! One question.. Can I use this platform to make autonomous robot with ultrasonic censor? Or it's impossible because of 4 milliseconds main loop limit? Thank you.

[filamentnovice]

When I look at the photo of the prototyping PCB it looks like the FAULT pin is connected to the + 5V. Is this correct? I don't see in the schematic that pins 9 to 16 are all connected as it appears on the PCB. My fuses blow every time I plug in a DRV8825. With or without a stepper motor connected.

@Joop, for information, the schematic in pdf on the website, the FAULT pin is not connected. I started from this schematic purely and alone. After watching the video again, it appears that the schematic in this video used has been drawn correctly.

[sxj]

After I spend more than a month to gather all the stuff and to combine, finally I could build this robot.
Thanks for you very detail information. But there are some issue that I cannot upload when this arduino is in place... so I have to take out to upload every time.. Anyway I will figure out.
And you are right "limit current for step motor" is very important, I saw heated and smoke from diode before I limited current.
Thanks a lot!!!