Tiny Two Wheel Balanced Robot

This project present all the steps to make your first balancing robot from scrap, where we start from the pcb design soldering all the comonents together and test it.

in this project i have used the esp8266 microcontroller and the mpu6050 imu with an h bridge to control the motor. this project will show you the transition from filtring the values mesured in imu and combine them into a PID controller.

To apply this two wheel balanced robot we need the following components :

* ESP8266 Microcontroller.

*MPU6050 IMU.

*H Bridge motor driver (L9110).

*3 LEDs (0805) + RESISTORS (220Ohm).

*FTDI.

and you can check the video for more details.

I made the design of the PCB on the free software (EasyEda), its an great tool, allows to check you 3d PCB model.

you find all the require files about the PCB below.

I thought in the beging that the software will be the easiest part in this project, but sadly its not the case, i ran into a problem called the drift and to avoid this issues we need to combine our system with a complementary filter. for more infos about that check out the video below, and you find the link to the code there.