ME 135/235: Microprocessor-Based Design of Mechanical System
Spring 2013
Spring 2013
Team Members: Susie Kim, Samuel Yoon, Jacob Vega
My Responsibilities: fabrication, electronics, LabVIEW & Arduino programming
The primary focus of this course is a semester long design project. For our group, we implemented a two wheeled, remote controlled, self balancing robot.
![Mechanical Design of the robot](images/TyroneShell.jpg)
Because the focus of the class is on the microcontroller programming, we designed our hardware to be as easy as possible to manufacture.
![free hbridges](images/Hbridges.jpg)
Sampled H-bridges from TI.
![Tyrone, the self balancing robot](images/Tyrone.jpg)
Tyrone! with counterweight (Ti-84 graphing calculator) removed.
Future improvements:
- Introduce x and x_dot dependency in the PD controller with encoder feedback
- Incorporate user control, either directly through serial with xbee, or with Bluetooth and an Android device
- Forward and backward navigation, and turning in place