Another Arduino project - Your Arduino Balancing Robot (YABR) - Part 1 

When you click on the motor to view the item it takes you to a 42mm stepper motor. Should it be a 35mm Is this wrong on your site??

Joop i still didn't see in the net anybody with such complete and accurate informations/instructions as you. I deeply appreciate your effort and above all your passion. Many should learn from you.

Nice video, but I miss the most important information... How did you achieve self balancing program ? You have such a great style of teaching, it shouldn't be left out :)

Excellent design and a great video!

Thank you Joop, never seen such a perfect tutorial. The language clear to understand, no music, and all details to download. I just ordered the material and will try to reproduce this Robot. I'm shure, I will learn a lot. I can't understand those who gave a thumb dawn. Kind regards Otto

When I click on the 《1 x Mini DC 7~28V to DC 5V step-down converter》 to view the item, it takes me to a 《Mini DC 7~28V to DC 5V Step-Down Converter Power Supply Module》. But the Power Supply Module is different with your "yabr-schematic_robot.pdf". Is this wrong on your site??

Hello Mr. Joop Brokking, how are you, all right? I really admire your work, so I will make a YMFC drone just like yours. I don't know if I'll make it, but I'll try. I also intend to make a self-balancing robot, both for course work, but I have some doubts. If you can help me, I would be very grateful. I don't want to bother you, but I would like some questions. Mr. Could you tell me which Mini DC 7 ~ 28V to DC 5V converter you are using because I want to make a robot exactly like yours? I can't find an equal. I found the LM2596 e o MP1584, but I'm in doubt about the connections. Please my friend help me. A hug.

Hi Joop, before to start with building, I'm studing your code and video. I read the comment here. Why it is so important the exat position of the MPU-6050? Why it shouldn't work if I put MPU-6050 a little bit top or bottom, right, left? Thank you in advance. BR

nice project.👍👌 :)

Dude, can you tell me how you got to these levels of pid control?

Great stuff I enjoyed your projects. Appreciate your effort. Its world class engineering.

Cool build! Sharing on The Awesomer.

I built it, but I have a problem. I NEED YOUR HELP!! When I start it, i wait for the end of the blinking, but moving the robot, the motors do not move, they only take a small step when I move the robot from side to side, nothing more! I adjusted the drivers well, I tried with other engines, ...

Hey am using a "ESP8266 " instead of "2.4G Wireless Serial Transparent Transceiver" and a normal "12v to 5v regulator" instead of " Mini DC 7~28V to DC 5V Step-Down Converter Power Supply Module". Will the same coding work ? i have already found my balance value with the hardware test code. But the robot doesnt seem to work. Please reply ASAP.Its for my college project.Thankyou.

i have to say thank you for your amazing work i built this robot and worked perfectly thanks

Thanks for such nice and comprehensive tutorial Joop :)

i used arduino nano ,SLC And SLA To A5, A4, conected to nunchuk, 3,3v and ground to, but i have some problems with code, it dont detect nunchuk in 0x52 address, i dont understand what happend beacause, i check the nunchuk with other program and it works,, here is the response of the serial Scanning I2C bus... I2C device found at address 0x01 I2C device found at address 0x02 I2C device found at address 0x03 I2C device found at address 0x04 I2C device found at address 0x05 I2C device found at address 0x06 I2C device found at address 0x07 done No MPU-6050 device found at address 0x68 No Nunchuck device found at address 0x52 :S

Excellent video yet again, thank you so much! ☺

Great Work, i am building this one, really nice. Thanks a lot

Any time I see a video from you I know its going to be interesting as well as educational. I enjoy the simple, complete and interesting way you present your video info. (for anyone who does not understand the concepts/idea of a balance bot and how it works using an accel/gyro look back in Joop Brokking's videos for compete simple to understand videos, using his DIY arduino quadcopter as the platform)

I am a newbie trying to learn Arduino_UNO. But I can't find enough technical information on using the ATmega_328 to connect the Arduino_UNO to a NOKIA_1100 display. Apparently there are 2 different ways to program the Arduino to input data to the NOKIA_1100 (1) ATmega328 processes SOFTWARE so that _shiftout() enters the data to the NOKIA_1100 OR (2) ATmega328 uses the SPI library to enter the data to the NOKIA_1100, requiring the use of specific Arduino_UNO pins: Digital_pin13, SCK (clock); Digital_pin11, MOSI The SPI technique is much faster. I have searched the various sites that "explain" the setup of Arduino_UNO and the NOKIA_1100, but have NOT found a site that explains the difference between the 2 techniques listed above. I would appreciate any help you can offer, especially a reference that I can read. An answer by a viewer that knows of such a reference would also be appreciated. observerms

I would like to make more clarification about current limiting. Due to forum.arduino.cc/index.php?topic=415724.0 you should not connect the motor until you adjust Vref. Also, please check my calculation. I have Nema 17 driver with rated current per phase = 2.0A, rated voltage = 2.2V/phase, 1.1Ohm. It will be 2.0A*2.2V= 4.4W. I use power source 4x3.7V=14.8V, so my maximum amperage should be 4.4W/14.8V = 0.29A. So, my Vref = 0.29A/2=0.145V. Is that correct?

"YABR" should stand for "Yet Another Balancing Robot", "YA" usually stands for "Yet Another". :p Just saying.

I NEED HELP GUYS: When I click on the 《1 x Mini DC 7~28V to DC 5V step-down converter》 to view the item, it takes me to a 《Mini DC 7~28V to DC 5V Step-Down Converter Power Supply Module》. But the Power Supply Module is different with your "yabr-schematic_robot.pdf".

Thank you for the great project! One question.. Can I use this platform to make autonomous robot with ultrasonic censor? Or it's impossible because of 4 milliseconds main loop limit? Thank you.

This is great! Greetings from Germany!

this is excellent work , how small can this be feasible do you think , based on currently available components ?

IS SIR JOOP OK? I KINDA MISS HIM FOR HIS WONDERFUL TUTORIALS... I HAVE LEARN SO MUCH FROM HIS CHANNEL. HOPE HE'LL BE MAKING MORE VIDEOS SOON.

When I look at the photo of the prototyping PCB it looks like the FAULT pin is connected to the + 5V. Is this correct? I don't see in the schematic that pins 9 to 16 are all connected as it appears on the PCB. My fuses blow every time I plug in a DRV8825. With or without a stepper motor connected. @Joop, for information, the schematic in pdf on the website, the FAULT pin is not connected. I started from this schematic purely and alone. After watching the video again, it appears that the schematic in this video used has been drawn correctly.

Very well done. Excellent craftsmanship . I love your videos. Keep making more!!!! I subscribed :)

Hello Joop, could I replace the regulator 5V regulator + capacitor; connecting the lipo battery 11.1V directly to the arduino UNO, and taking the 5V from the UNO?

Has anyone built this and got it to work with Jopop's original code? I have checked each component and they all work individually, but with the full sketch, I just get the steppers buzing without movement. I passes the hardware test, but I am not using the remote. Could this be the issue

Very Pleasent Tutorial & Video. Thanks for making my day.

Hello everyone... At the moment I only have an Arduino mega 2560. Do you think it can be used for this project? Thanks a lot...

@Joop Brokking Hi im trying to build this project, but im using arduino UNO. I have one issue. When i press the start button nothing happen the motors are blocked. Could you please help me ?

I have a different gyro, mine is the "ADXL345". Please let me know if that will affect my project and if I need to add a library in the Arduino IDE. Please let me know as soon as possible.

I'm also building a version of this. Has anyone built a smartphone app to send the bluetooth control codes? I may be mistaken but it seems that the nunchuck/uno/blue module could be a separate project if an android phone app was available.

Interesting and Fully explained project. THanx for your efforts Joop Brokking. I can see that the post is old, so now: How about now using a Nano instead of Pro Mini together with 2x A4988, 2x JDY 40 2.4G (NRF24L01) and Stepper Motors +MPU6050. This would reduce the costs to less than 50% of what was in those years. Also the JDY-40 2.4G will not require a second Arduino (Uno in your case) for the remote (use simple 4 buttons sw for FF, RV, TL, TR all wired straight to the board ). this will make a tiny hand held RC operating with a small lipo. Loved your patience in Explaining in all the 3 video clips....I listened to them all.

Hi Joop. I completed mounting the Robot and it is working properly. I had to set the full step mode in the step motors drivers in order to work with my specific motors (mode 0, mode 1 and Mode 2 as LOW). I am facing just one problem: When the robot is starting to balance itself, first it performs a backward movement for a few seconds (it moves about 100 cm) and after that it stabilize at vertical position. Do you have any idea about how to solve this problem?

the 2.4G Wireless Serial Transparent Transceiver Module is discontinued, any replacement recommendation?

First of all, DO NOT use a bench power supply to adjust the current limiting of those drivers. that is not the proper way to do it and is not accurate do to current limiting control. You have to reference the voltage at the potentiometer with a multimeter in order to set the correct current limit. over current can burn out the coils on the stepper not just heat up the driver.

awesome project and thanks for the explanations and detailed info , data etc.

hey ı work with same balancing robot like using Nema 17 stepper motor, a4988 motor driver, hc-06 bluetooth module, arduino nano, and gyro. ı uploaded applicaiton to control robot via bluetooth.but ı have just motor noise ı do not undertand it is working or something ? could you please contact to me?

i enjoyed the video until you put java code on the script and triggered my intense Post Traumatic Shitty Language Disorder

Those DRV8825s sound like robot farts. You need some stealth chop in your life.

Not sure if this is still active? What do you use to power the remote system please? would a 9v battery work? Thanks

Can the serial module be replaced by a HC-05 blue tooth module without altering the software

Any book to design and build electronics boards like arduino? Thanks to all curious and maker people out there

Excellent !!! Thank You for sharing your Knowledge !!!

Hello joop, I am wondering if i dont connect any transmitter to the robot, i just want the robot to balance it self, will it work? Because my stepper motor wont turn at all, it wont balance itself. I wonder if it is because i dont connect serial transmitter to robot. Can you reply?

I have connected everything exactly the same, using arduino uno, MPU6050, DRV8825, the robot just wont balance itself. I wonder if arduino uno can work with ur code?

Very cool project. Thanks for sharing your work!

Great Man! Thanks for posting video and plans.

Hello, I sent you 2 emails recently but didn't get any answer from you. May be you were busy. Here is my problem: I used your code on series "MPU 6050" and tried to calculate yaw angle. I calculate yaw by these functions: angle_yaw += gyro_z * 0.0000610687023; and use angle_yaw_output = angle_yaw; to display on LCD. My problem is: yaw angle increase by the time (if we keep moving our plan, so the increment doesn't happen); Could you give me some advises to fix this bug. By the way, as in the last letter. I said that i am working on a project and the task is keep our robot move straightly. I am going to use PID to solve this, Have you got any suggests for me! Our robot have 4 omni wheel and it has to move from point to point quickly and correctly. Speed of DC motor is controlled by PID too. Thank you very much and I hope your answer soon!

Joop HELLO! Your video is super. For some reason, when I install NEMA 14 engines (I have the same NEMA 14 as in the video), then a weak torque and with little effort skips steps, and if I put NEMA 17, then the torque is much higher. Why don't I have torque on NEMA 14 engines? Can I supply DC motors, for example, from a 12 volt screwdriver? What should be changed in the code? Thanks for the answer.

i use the board uno instead of pro mini. Can it work if i do that ? the motor can run if i do exaclty all port on the uno like the pro mini ?

Hi can you point to any resources that explains the PID calculation part of the arduino code?

Using a Pro Mini instead of the Uno for the Wii nunchuck controller: ru-vid.com/video/%D0%B2%D0%B8%D0%B4%D0%B5%D0%BE-1RGQE8HoHGg.html

HI Joop...Thank's for all this information and this great videos.... Didn't you need the capacitors in paralell with the 12V supply of the A4988 ? And.. Do this project work usin Arduino Mega 2560 ? Thank's very much...

I'm trying to implement this with a Bluetooth HC-05 module, by sending the received_byte through it to the Arduino using a custom-made app. What should be the send rate of the app (as in what should be the time interval between sending two bytes)?

Hey, so the hardware check says everything is all excellent.. the nun-chuck is recognized and the gyro works.. but i cant control the bot with the remote.. any thoughts i am so close to finishing this project.. i would love to get it done soon

how is it working? after 'throttle_counter_left_motor'>2 it will just stop to pulse. It should keep to give 0,1,0,1,0,1 etc to 2nd output. throttle_counter_left_motor ++; if(throttle_counter_left_motor > throttle_left_motor_memory) {...} else if(throttle_counter_left_motor == 1) PORTD |= 0b00000100; else if(throttle_counter_left_motor == 2) PORTD &= 0b11111011;

Is it possible to use HC05 module or any other module because the module you described is not available in our area also the site you recommended doesn't deliver to our locality please reply asap

In the lowest connection line of the stepper-driver you have in the "Build image 09" ALL eight pins connected, but in the "yabr-schematic-robot" you did connect only 7 pins ! I followed all your instructions, and i made only one difference (NEMA17-Steppers instead of NEMA14), but the motors won't move.......after checking all connections I noticed the difference between the wiring schematic and "Build Image 09" Is that missing connection(5Volt on fault-pin of the stepper-driver) the reason ???

I have run your hardware test to determine if nunchuck has been connected properly. The result says i2c device found at address from 0x01 to 0x07, but no nunchuck device found at 0x52. However, I loaded a sketch using nunchuck_funcs.h, the joystick and buttons were responding correctly. I also ran a i2c multiscanner including 400khz. It correctly found the device at 0x52. I wonder if anything in your program I need to modify in order to detect nunchuck? Appreciate if you can provide any hints. By the way, the bot worked properly and can carry a glass of wine on top.

@joopBrokking Two questions, regarding the Buck converter you have on the BOM (and which I bought, now realizing it's not the one used on the video): www.dx.com/p/mini-dc-7-28v-to-dc-5v-step-down-converter-power-supply-module-green-black-398251?Utm_rid=78761898&Utm_source=affiliate#.WXsHaK1Dw0R 1. Would you recommend connecting the two grounds? The Internet seems to have both opinions (will work both ways, but which is deemed better in this design)? 2. The converter has two pins at each corner (and no manual I can find). Is it just that these pins are duplicates? Is it enough to solder wires to just one of them?

I'm finding it difficult to see how you communicate with between the remote control and the robot. They both seem to have Bluetooth communication modules (you don't specify), and you don't have any libraries or code to show how communication is done. In the main robot code, there is a line if(Serial.available()){ which implies a Bluetooth or similar serial device attached to Rx0 and Tx0. Are these free on the ProMini because downloading is through the FTDi programmer? There is very little (none) information on those comm modules. When I click, it just shows a generic component with little data on it's use. Can you elaborate? In the remote control code I don't see ANY communicaiton coding.

Joop I want to asked 2 question 1. If i don't connect the nunchuck or robot can't recognized the nunchuck's I2C address, can robot balance by itself? 2. Whenever I test the hardware I always received the different results. I have entered the acc_calibration_value after received the balance value from hardware test but my robot can't balance by itself. Can you help me this problem? Thanks in advance for your response.

Why is the ground wire to the stepper drivers grey coloured (in schematic), while the other ground wires are black. Is there a difference in gauge? Also, which wires are 0.14mm² and which are 26 AWG?

I attempted another similar balance robot project, Total fail. I given this project a go and have almost completed but having difficulty with hardware test /nunchuck , won’t load and perform monitoring test. However hardware test had no difficulty with robot monitors test. Maybe bad Adriano uno board ? Or bad nunchuck ?, don’t know. Hope the author of this project can give some pointers and help me out. Thanks

How I download the code??

can i use bread board instead of pcb?

don't know if this discussion still runs. (you see, i am not a native english speaker ;-) i want to use this project for practicing imu-sensors and filtering sensor signals in a technical college. some more information would be fine : - how is the complementary filter designed ? i mean : are there any calculations about the frequency behavior of gyro and acc ? - did you find the pid-parameters by any rule or just "playing" with them ? (- is the video, which explains the linearistaion of the steppers, available ?)

Respect man, very nice project!

Absolutely awesome video, so if I wanted to make one twenty times the size, would the code have to be altered or not?

Hi, I am trying to build YABR, using a CNC shield, with M1 high. Everything seems fine, the MPU is working as expected, but I can't get any response from the step motors. I've adapted the code to the following config: Left motor with pulse at 2 and DIR at 5 and the right motor with pulse at 3 and DIR at 6, but still nothing. Do you have any idea? Thanks a lot for this amazing project.

Thank you for the inspiration, think I will build something like this for my April project!

AMIGO VOCÊ ALÉM DE GÊNIO, É UM SHOW. VALEU POR COMPARTILHAR UM PROJETO COMO ESSE...PARABÉNS.

Hi Joop, great project and videos. This has inspired me to make it. Currently I have built the robot and just waiting for parts for the remote. I have run setup program and everything appears Ok, the Gyro has given me a balance value of -1095 which I understand is ok. Now I have uploaded the main robot program but the robot does not try to balance, Is this because I haven't built the remote yet or should it balance without it? Thanks In advance Richard

Hello everyone... i need a help to build a cable cam using (rc radio+ arduino micro+step moter) I appreciate any advice.

Hi, I built your robot and it works very well, thanks but I have a question: I saw that you are using an "2.4G Wireless Serial Transparent Transceiver Module for Arduino" ... where can I get some documentation on this small board? I would like to know hot it works. Thanks

I had a weird problem with the remote. I used Pro Mini and both I ordered turned out to run at 1/4 of the prescribed baud rate. Same with delays. Apparently the vendor installed wrong crystal. Blink sketch runs at 1/4 speed too.

Hello. first of all, thank you for your guide. I following your steps but I can't find out why YABR_hardware_test.IDE doesn't works on Arduino Leonardo. Upload was fine. but there was nothing on serial monitor. Do you know the reason?

Hello, i read the code. Timer intterupt occur every 20 micro second. So 40 micro second period pulse is generated and that can control maximum 45 degree. Am i right? And if the pidoutput is less than 45degree. What action is operated during remaining time of 4ms? No action?

I'm looking at replacing the step down converter with a UBEC step down converter, if so can R2 and R3 be eliminated?

Hi, I started the Hardware test, but the seriall monitor says No Nunchuck device found at address 0x52 Both blue LEDs on Wireless modul are flashing, but nothing else. Do you have I Idea was is wrong?

What about building a One-wheel-robot? :) As like a robot from the Borderlands game, his name is Claptrap. What do you think, Would it's been working? It's my dream and point to reach it, but I guess i able to make that robot only with 2 or 4 wheels, but original Claptrap has a one wheel

can anybody please help me out here. I have an Arduino Uno, two stepper drivers, 2 Stepper motors, an IMU6050 and a 12v lipo..... can i use this tutorial to build a SBR. i dont have all the other stuff mentioned.

You are awesome! thanks for posting this!

Hoi Joop. dankjewel voor je moeite en duidelijk info. ben je nog actief Joop met hobbies?

Why the separate tuning for balance point? The addition of a single button (press when the robot is upright and the current value is used as the cal value) and a couple lines of code make it easier. Better yet is fully self calibrating, but that is a bit more work-- I am too lazy to code it for an application like this.

I made the robot, and it gets to be stabilized. However, it does not stand still. it starts to move forward, and to turn. Can you figure out where this problem is from?

Hello sir I am building same robot with all your videoes and guidelines..Thank you so much sir..but I have few doubts...one of them is in this equation: pid_output_left = 405 - (1/(pid_output_left + 9)) * 5500 what is the significance of 405,9 and 5500? Do they be changed if I use wheels of larger dimension? other one doubt is what is the significance of 400 used in pid and motor pulse time calculations? other one doubt is what is the relation between 20 microsecond interroupt routine and 4 miliseconds loop? Can we change them? other one doubt is what is significance of Kp, Ki and Kd used in above programme? I am asking all this becouse I have built same robot but difference is without transiever, with single stepper driver I am driving both stepper motors, I am using NEMA 17 motors so some dimensions are changed including dimensions of wheels, I changed that 400 value to 600 After all this my robot is being stable for 5 seconds only.. Hopping to be answered. thank you for your time

How can I change program to change axis of stabilisation?

Hi Joop Many thanks for your video, just a quick question, can I use this software with the geared DC motor instead do step motor? Thanks

Hello Joop, I have a problem: I set 150 mA current on both controllers. I set the balance value to -518. I have successfully uploaded the program to the Arduino. But YABR has not enough torque to keep the upright start position. Also, when I tilt YABR a little bit, it seems that he is moving to the wrong direction. Can you please explain what will be wrong in my project? Thank you very much in advance

Can I use an Arduino Pro Mini instead of the Arduino UNO in the remote control ?. There should be no modifications in the code for the remote except for the type of board used . The remote is using only I2C to talk to the nunchuck and serial to talk to the RF module

HI Joop: I've built this robot and it's gone together really well. However I have a couple of questions. On the schematic of the circuit, you have the gray and dark red tracings running towards the battery and switch. The gray wire comes up from the stepper motors and joins onto the black wire that runs to the ground on all the boards. I'm finding that When I touch my multimeter leads to both the right-most pins on the stepper motor (red and gray) they are shorted together. Should I get an open circuit when I touch these two pins? I blew the diode on the bot when I powered it up. One motor started turning and then 'puff'! Also, I'm trying to set the current limit on the DRV8825 driver boards. I touch one lead of my multimeter to the vRef spot and the other to ground and I get the full voltage of the battery. But then I put the positive lead to the centre of the potentiometer and get zero (0) volts. Turning the pot does nothing. I've tried this on 4 DRV8825 boards and nothing happens. Please help me understand what I'm doing wrong. Thanks Joop. Your projects are fantastic and the videos are top quality! If you wish you may reply to gp_7141@yahoo.ca

Hello Joop Brokking, great work. I'm unable to understand how you have being able to compensate non linear speed behaviour in your code, i haven't found any documents thats could help me understand how you have comme up with that equation, if someone could help me it would be great thanks. pid_output_left = 405 - (1/(pid_output_left + 9)) * 5500 thank you for your time

Great work! Thanks for sharing.