My name is Simon, and I am a Masters Robotics student from Ireland. Over the past couple of years, I completed a number of technology projects which I would really like to discuss and share with you. On this blog you should expect to see (depending on how much time I have) posts about my various projects, as well as a variety of tutorials aimed at electronics and robotics hobbyists!

If you have any more questions, then don’t hesitate to ask. I am always open to comments and suggestions, so if you wish to engage in a conversation, please leave a reply below or on any other page of this blog.

If you want to send me a private message, you can always pop an email into my mailbox at: hello@chillibasket.com

This Post Has 5 Comments

  1. Is it possible to do the self balancing robot with “arduino UNO” and “bridge H L298N”? thanks.

  2. Simon, thanks a lot!

  3. Dear Mr. Simon,
    Thank you for your tutorial & suggestions. Now the robot can keep balance very well!
    So, now I want to extend the project by controlling the robot via Wi-fi (it can go ahead, go back…). Could you please share any suggestion about which wi-fi module we can use and how to control?

    Thank you very much

  4. Dear Simon,

    First of all, Thank you for your detail tutorial!.

    I am Tran, from Vietnam. I am building the balance robot based on your toturial (Materials used: Arduino Mega 2560, Motor control module L298, MPU-6050, DC motors..) I have problem with code, since the “PIDValue” increas steadily to 255 even when the sensor move (pitch change) or not move (pitch change a little bit around -2 to 2). Could you please give me the suggest?. I have tried to change some things in PID Controller function or P,I,D value, but that problem still happen.

    Many thanks!

    1. Hi Tran, there are a number of possible reasons why this problem might be occurring. Here is a list of things you should check:

      > Are the motors wired in the correct direction. Check this by setting P=10, I=0, D=0. The motors should be moving in the direction the robot is leaning.
      > Is your motor controller wired properly, and did you make the correct changes to the code? See this comment for details [link].
      > Is your IMU working properly? The angle should be 0° when the robot is upright, and about 90° when horizontal.
      > Did you set the correct target angle? Do this by holding the robot upright in the exact position where it is perfectly balanced over the wheels, and click the button connected to pin-4.
      > The final possible issue is that your PID controller isn’t tuned properly. Your ‘I’ term might be too large. See this post for details about tuning the controller.

      Simon

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