balance_robot_stm32

It's my hobby robotics project. The robot is based on STM32F411 Nuceleo-64 board as a controller. The robot uses simple complementary filter to calculate tilt angle and a PID controller.

Hardware

• Controler - STM32F411 Nucleo-64
• Motors - Pololu 75:1 Metal Gearmotor 25D MP 12V
• Motor controler - MAX14870 Single Brushed DC Motor Driver
• Custom power distribution board - unfortunately I lost the schematic and all the files for my design

My code

My code can be found in /Core/Inc (header files) and /Core/Src (source files)

• balance_pid.h/balance_pid.c - PID controller used to control angle of the robot,
• comp_filter.h/comp_filter.c - complementary filter used to filter IMU data and calculate robots' angle,
• ICM20948_I2C.h/ICM20948_I2C.c - simple library to set up ICM20948 and read acceleration and gyro data using I2C,
• max14870.h/max14870.c - library to control PWM motor driver.

Video

Robots still needs some tuning

Future plans

• Create model and simulation of the robot in Python (for LQR regulator),
• Implement Kalman filter to be able to use state controller,
• Add speed controller to be able to drive robot around.