How to build self balancing cube 

Thanks for sharing! A self balancing cube is now on top of my project list.

Great engineering project that involves mechanical, electrical and software designs. Subscribed!

Beautiful, thank you for the 3D printer files, but I think I’ll do the math and code all by myself

Thank you for uploading your files! I just ordered the motors and am currently printing the parts for it.

Thank you for sharing the codes and the 3-D print files. Much can be learned from them.

Thank you so much for sharing the code and 3D files!!!

Just finished building mine. Thanks for sharing the files!

Thanks for sharing. GREAT video , I will try to make the device as soon as my parts arrive.

This is awesome! Thank you for sharing the code.

¡Excelente video! Con esta experiencia Ud. estará despertando grandes inquietudes y desafíos a las mentes jóvenes. ¡Lo felicito! 😉👌

Thanks!! Finally :D I’ve been waiting for this since the first time I saw your videos :)

Hey, neat project! Thanks for making it open source. Do you have any sources available for the theory you used to model the system, or even any general equations that you used? Thanks for your time!

Awesome job! busy building one now. Is it at all possible to share the fritzing files and parts used?

Amazing project and very demonstrative video! Kudos !

Thank you very much for sharing your projects!! I am half way building the cube, and It seems like my parts are a bit smaller than the ones I see on the video. Can you please tell me:Did you upload the stl files of an smaller cube? For example, the walls of the cube are 152x152 mm. Also, it seems like you put double nuts.

Got mine up and balancing. Its memorizing.

one of the best project I've seen !

hey Great Project ! i currently working on my own and wanted to ask you if you could provide the specific Model Numbers for the Nidec 24H Motors, as there are a few models, also for the LiPo, which Operating Voltage does it have ? Best regards

Very cool! Could you make the cube spin by rotating all the reaction wheels at the same time, in the same direction? I'm thinking adding a constant rotation to all the wheels should cancel out everything except a spinning torque...

Hello, amazing proyect!!, I wanted to ask you where did you buy the LiPo battery? I'm having trouble finding one that powers 11.1V, does it work with 3.7V?

now do the pyramid version. tbh this is crazy mix of engineering and coding / modeling etc i could never do that

Great project indeed!! The motors are 12v? How do you power them? Directly with the 12v battery or with a step-up regulator? Thanks!!

Hi Remi , what transistor did you use to switch the buzzer on and off , One is shown in the schematic but no details as to what is suitable

hello, great project, I plan to make the version with the esp32. I wanted a precision concerning the transistor pn2222, on your plan github esp32 concerning Q1pn2222 B=? C=? E=? because the wiring of Q1 for the arduino version indicates E=gnd C=Bz1 B= R4. so I have a doubt for the Q1 esp32 version. thank you and nice job

Fantastic project, well done. The result is very satisfying to see and your video is quite clear and the steps to follow. I have one question regarding the motors, what made you choose the nidec 24h for this project ?

For a beginner, how difficult would it be to develop the control loops? I have a background with some control experience but not mechatronics.

Congratulations and many thanks for sharing your project... I am waiting for nidec 24h (1 month with aliexpress). I will add an oled 1306 to show gyro & acc data. I am preparing wheels with 6mm steel balls (with respect to 70g weigth).

Hey great Project ! building one myself currently, which length does the M4 Bolts for the reaction wheel have ? Ist 20mm good ?

@ReM-RC is it possible to get the arduino to have an output to light up an led upon it balancing ? if so which part should I add my if conditional

Fantastic project I'm trying to realize it! One question, how many mm are the M4 screws in the reaction wheels?

I saw you added a new schematic to github for using an arduino. Does this have any advantages over using an esp32? I also noticed you didn't include any of the red wires in this new schematic. Are those not needed? What were those actually for in the original schematic. Thanks!

What a brilliant project. I would like to rebuild this cube. But I'm missing the specification of the transistor Q1 (in the video min. 4:56) Have I overlooked something? Many thanks for the help!

Amazing! Best self-balancing cube I've seen! Could you please give me some reference on where can I Learn more about the method you used for the control method and your tilt estimator algorithm?

one more question , is the transistor connected Emitter > GND , Collector > Buzzer , Base > 6.8K Resistor ?

Is it correct that you have the encoder +ve connection to 3.3v ? The datasheet for the motors says 5v. (I know you aren't actually using the encoders but I wanted to wire it up properly just in case you decide to use them)

Wow such a cool project! :) I was wondering, what type of connectors do the motors use? It looks like they go from motor connector to female jumper, what is this cable/connector called?

Hey buddy, I’ve decided to build this project but I’m not exactly sure where is the best place to find those motors at least in Europe. Know of any alternative product to replacement?

Would you mind sharing the brand of the battery you used? I can find a lot of similar batteries, but they appear to be much bigger than the one you use and I am afraid they won't fit the slot. I am also not able to find the Nidec motors anywhere. Is there a known alternative for them?

Hey, I really like your project, want to build myself, which screws and nuts have you used ?

Hello ReM-RC! When I go to verify or upload I get fatal error: ESP32.h: No such file or directory #include "ESP32.h" compilation terminated. What can I do?

Hello ive just finished my build. Innthe programming angles. The file i downloaded from github dosent match the file on your video, am i supposed to program the 4 angles using the c+ method im using the esp board. Thank you.

Great project! I am think about modify the cube to a smaller dimension, hence the cube weight and position of the sensor will change. Which part of the code will I need to modify? Thank you very much!

Hi I am collecting all the parts to start building! already printing the parts. However. I see in your video that you are using a transistor and two resistors for the buzzer but they are not in the electrical drawing that you made. also i see a small led that is not documented. What are the specifications of the two resistors and transistors and how do they fit in the electrical diagram? Is the transistor underneath the buzzer the mosfet? I ordered a PN2222 transistor.

Thanks for sharing - Question: in the wiring there is a transistor Q1 - which Type is used here ?

I am attempting to get the offset values in each position as show in the video, but my X and Y angle is -45, 45. Maybe my MPU is not functioning correctly. Any ideas on how to solve this?

Dear ReM-RC, looking at your code I got the following question, what are these specific offsets for? float offsetx= -0.99, offsetY = -3.43 float offsetx2= -31.24, offsetY2 = -19.05 float offsetx3= 30.4, offsetY3 = -19.21 float offsetx4= 0.17, offsetY4 = 35.9

My motors are stopping after 4 seconds and only turn back on when i remove the power and give it back. Any advice?

ReM-RC Love this video. I 3D printed parts, wired everything up with an Arduino Nano but I seem to be tripped up on the calibration set points, no motor spin and all my angles are wrong when sending the C+/- commands? Pretty sure it is something simple, any pointers? Thanks!

I wonder if you put a flat surface on one of the corners of the cube If you could stack them

Hey mate really great work do you mind showing the wiring diagram a bit more detailed if that’s possible

Great project and in the process of making one myself! The video and github never mentioned about adding a Bluetooth module when using a arduino Nano, how would I have to connect the Bluetooth module if according exactly to the schematics given in Github and would I have to make any changes to the code if I did? I tried searching if you mentioned it in any of your videos or comments but I couldn't find a answer, sorry if I am asking a repeated question.

Hey great project!! I was wondering if u could recommend some alternative motors incase these aren't available

I didn't see mention what the voltage the motors are powered from. Are they getting power from the battery or the 5v regulator?

Got these 12pin motors working. I have discovered that the start/stop pin needs 12v or they remain off. It all looks good now but the motors are turning in the wrong direction. Can that easily be changed in the code? If so could you help me with where cheers

Is it possible to stabilize it with the center of mass misaligned with respect to the fulcrum?

nice, i want to make one for a long time, when is the version that jumps alone?

In the esp32 schematic, Q1 would be PN2222 or 2N2222? With the 2N2222 transistor is Emitter > GND, Collector > Buzzer, Base > 6.8K resistor? And in the case of the PN2222 it is Emitter > Buzzer, Collector > 6.8K resistor, Base > GND?

Is it possible to cut the frame out of aluminum or would that throw off the balance?

Hi there! I've got this setup but after uploading the code, connecting the battery and connecting via bluetooth I am unable to open the Serial Monitor because it says the Port is busy. Any idea why this might be happening?

That's sooo cool! the greatest respect to you! thank you for sharing.

does any code need to be added to connect the arduino nano via bluetooth using the HC-05 attachment?

Hey really Great Project !! i am currently building one myself, my question: in the schematics of the ESP32 Version you used a 35V 100nF Ceramic capacitor, but in the Arduino Nano Version you used a 16 V 100nF one, could i use the 35V from the ESP32 Version in place of the 16V one in the Arduino Nano version? or would it create any problems ? best regards :)

Thanks so much for sharing this. Incredible :D

Awesome project! It's there any way to reduce those oscillations when the cube is balancing?

I printed all the parts, how do I arrange the nuts, is there any balancing tactic? thanks for the project!

In what way would it affect the performance if the reaction wheels weigh more or less than the 70g . I assumed a heavier wheel would have more inertia and control the cube easier

hi, do you have a wiring diagram or schematics for the electronics

I am using a different ESP32 board so the pins are slightly different. I got motors to spin in both directions just fine. I can't understand the connection of 7 and 8 pins on a motor. Can you please help with what are they used for?

Heyy this is amazing !! I'd like to build a Cubli but probably in aluminum and of greater size for an artistic project. Is something like 45*45*45 cm conceivable? What would be the subtle impacts on the engineering side? I'd like to build the frame in allu to engrave / paint it :)))

good night my friend, beautiful project, but a question: would you sell it complete? I'm having trouble finding some components

We are using the initial commit code (2022.5.8) of the GitHub page to use the code and tuning method of this RU-vid video. However, there is a problem with the motor in balancing. During the motor tester, it was confirmed that it was moving well according to the code, but during balancing, the motor repeatedly spins and stops too fast at full speed. So here's what I'm curious about. 1. Whether this problem can occur depending on the value of x in the batVoltage(double) analogRead(VBAT)/x) code. 2. We are using a battery of 11.1V 1000mAh and how does this affect the behavior? 3. The offset value measured like a video on RU-vid. float offsetX = -1.12, offsetY = -3.86; float offsetX2 = -0.34, offsetY2 = -47.55; float offsetX3 = -33.24, offsetY3 = 19.33; float offsetX4 = 32.86, offsetY4 = 4.12; Thank you.

What do you mean in the video is that the 12.6V voltage is divided into 3V proportionally through the resistor, because of the limitation of the port measurement voltage, and then converted to the actual voltage through the code?

What size screws are the motor and circuit board mounts? Thanks.

How much V does the LiPo have? 11,1V? 14,8V? And what voltage do you measure that you have to input into the source. The voltage of the battery in its full state? And the 5V regulator: Is 800mAh output enough?

Hi, thank you for sharing such an impressive project! Can you please provide us with links to trusted (legitimate) online retailers where we can buy the necessary component (e.g. motors, battery, sensor, etc..)? Thank you in advance!

Is there any specifications on the transistors you used?

Please can you provide the link to where you purchased the motors?

I tested the motors with the "motors_test" programming and everything went ok. Each motor rotating clockwise and counterclockwise. With the other programming I calibrated the points normally. When I place it on one of the edges, the motor referring to the edge starts to rotate at maximum speed. And at the vertex the three motors run at maximum turning on the beep. Do you know what it could be? Perhaps the value of k1?

love your project im building it currently and there is a problem with the buzzer it keeps on buzzing for some reason can you help me on this

Thank you for this video. It helps a lot.

Thanks!

Hi. tell me in what order to connect: DIR*, PWM*, PWM*_CH and "start/stop", "forward and revers", "signal speed regulation"? Вo we need a signal from encoder "A" or "B"?

This was fun to do. I'm thinking of customizing my cube. Two questions: How much weight would you say is too much weight for the whole cube? Does the pointiness of the corner play a role, would a rounded corner be fine?

I'm designing a PCB for this, and I was wondering about the transistor you have in the schematic. Which leg is the collector? Is it the one connected to the buzzer or the resistor? Great stuff by the way!

What alternative of Nidec 24h can be used to run it perfectly?

Excellent build REMRC. What length are the screws you use to add weight to the wheels?

hey! In the part where you connect the engine to the wheel, there is one more small piece. That piece is not included in the files you shared with us. Without that piece, I cannot connect the engine to the wheel. The engine is becoming thinner. Can you also share those drawings with me?

Great project! Can you please let me the size of prototyping PCB? 50x70mm?

Hello, can you please recommend me an engine that is more accessible ?

Have you changed the code in github? Why the code in github is not the same as in your video?

Like your videos and the cube is top. Wath are the dimensions of the square ?

If I use different material (which means different weight) to build the cube, which part of code I need to adjust? Or the material doesn’t matter? Thanks for making this video and make the project open source!

Thanks for sharing, this is a great project!I don't know if you have time to share the model of the circuit connection or electrical components

Hi Rem-RC, Can you tell me the bushing size/type for the wheel? I have your motor with a 6mm smooth shaft. Part#? eBay ? Amazon? Would be very grateful. Thank You.

How much will IT cost Umleitung lincluding 3d prints and the Hardware?

Hey, we are french people and we have a question: What is the PCB prototype what is his function. Thank you for amazing explanation!😁

Hey, what is the feature of this dc motor? is it with a driver? is it with an encoder? can you suggest me another alternative? if I buy another dc motor other than this, what kind of feature should it have?

Excellent work.

the motors are so hard to find in market, is there any similar motors that I can use?

Great project! Can you post a wiring diagram when you get a chance? It would be really helpful