Short and squat balancing bot is extremely stable

[Lauszus] really put together an impressive self balancing robot platform. It is virtually motionless when balancing in place, and that stability is never lost even when motoring across the room.

Part of the success behind this build is the use of quality components. He’s got a really nice set of motors with built-in encoders which give feedback to the balancing system. They work in conjunction with a gyroscopic sensor and PID code to keep the two-wheeled platform upright. An mbed board running 96 MHz provides plenty of computing power for the balancing system. But an Arduino can also be found on board. This was included to facilitate Bluetooth connectivity with the remote control as [Lauszus] didn’t want to port the code he had already written.

The fourteen minute video after the break shares the details behind how the PID controller is tuned and how [Lauszus] implements target angle and a few other factors. Of course he talks about the hardware choices, and demonstrates functionality by driving the bot around using a wireless PS3 controller.

The construction method which uses masonite strips and threaded rod does a good job of protecting the hardware mounted on it. We’re always a bit worried about these bots falling over and some of the projects we see offer little or no protection. Once thing that helps protect against a spill is a piezo buzzer which sounds when the battery is getting low.

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Windows drivers for PS3 controllers

Recently, a Japanese coder on the DCEmu Forums released Windows drivers for DualShock 3 controllers. While the drivers only support using the controllers over USB and not bluetooth, they do include force feedback and Sixaxis support. Included with the drivers is a configuration tool, and though it appears to be in Japanese there is some explanation of how to use it included in the forum post. We have not tested these personally, but you can try out the drivers for yourself  by downloading them from the forum here.

[photo: William Hook]