ME 135/235: Microprocessor-Based Design of Mechanical System
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

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

Sampled H-bridges from TI.

Tyrone, the self balancing robot

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