Balancing AVR Mega168

Balancing robot using AVR Mega168 and a Ping))) ultrasonic sensor to keep balance.

Category:

Science & Technology

Tags:

• balancing
• robot
• robots

[RoBotXro]

Also, the Ping sensor should be kept perpendicular to the surface at all times, even when the robot is tilted to be able to receive a continuous line of measurements. But because the sensor is tilting with the robot, the measurements get out of range so sometimes it will think is tilting one way but instead it is tilting the other way so instead of recovering it will fall faster.

[RoBotXro]

Any continuous rotation servo is able to rotate at different speeds by adjusting the pulse around the 1500 microseconds that should be the stop value. But it has a small range of adjustment, that means the servo will reach the max speed way before the 1000 or 2000 microseconds pulse. In my case, I have about 300 microseconds to play with each way. Unfortunately the servos are not speedy enough to recover if the robot is falling after about 5-7 degrees.

[RoBotXro]

Yes, it reads the Ping sensor (distance to the surface), compares it to the value from the potentiometer and if there is an error, a PID control will adjust the motors speed and direction to restore the balance.

[swapnil17may]

the data which you provided is it sufficient to build the same robot?

[mremgee]

I'd put wither two pings on it, one on each side, and rely on the one with "nearest" measurement for balancing, or just use an accelerometer instead.

[neronelbp]

nice piece man!

may I ask how you managed to control the speed of the servo motors??

I'm trying to find out a way to do that, in order to build my balancing robot..

thnx in advance..

[jonnycapone1]

thats hot

[sasasasa34]

So basicaly it is balanced because if the ping is less or more then a certain amount it turns the motor to get it back in the correct place?

[frank26080115]

nice, can we have more details?