Self Balancing Robot with Arduino Leonardo, CNC Shield and Wemos D1 Mini

#Arduino #Leonardo #wemosd1
This is my first attempt to making a self-balancing robot. This is probably the first self-balancing robot that uses Arduino Leonardo and CNC Shield. Here is the full list of the components needed:
1. Arduino Leonardo (main microcontroller)
2. CNC Shield (for 2x A4988 motor drivers)
3. Wemos D1 Mini (ESP8266 board for Wifi)
4. MPU6050 Accelerometer (for tilt angle and speed sensing)
5. 2x Nema 17 Stepper motors
6. 3D Printed parts
7. 3x 18650 batteries
The Arduino Leonardo uses MPU6050 to get the tilt and speed information. It then feeds it into a software PID controller to get the motors speed and direction, which then changes the tilt and robot speed, which then feeds back and so on. It is a closed loop linear feedback control system.
It is based on JJ Robots Evo software. Special thanks to JJ Robots for that. Their software can be downloaded from here:
github.com/jjr...

[@nareshrobodrone6287]

Excellent self balancing robot

[@ma130806]

wow!