Just another balancing robot... but with hair! :-)

Disclaimer: This is not an advertisement, however this project was done for a company event. Loewenfels Partner AG is a software development company in Lucerne Switzerland and one of their employee events usually features some kind of technical project to be build and programmed. Video: https://www.youtube.com/watch?v=nen49qwPti8 (Edit: sadly the video was set to private)

The bot is using stepper motors, an accelerometer/gyro and a pid loop programmed in Arduino IDE for an AtMega328p. The bot can be controlled using a Blootooth, i recommend 'Arduino Bluetooth RC Car' for Android (not tested with IPhone).

The source code and build instructions (german language only at the moment) can are there: https://github.com/christianp007/Balancing-Bot If you need more instructions just leave a comment :-) The instructions to prepare the HC-05 module: (from https://www.instructables.com/Modify-The-HC-05-Bluetooth-Module-Defaults-Using-A/) set serial monitor in arduino ide to 9600 baud and connect AT+ORGL AT+VERSION? AT+NAME=Bot red AT+UART=57600,1,0 AT+POLAR)1,0

The code is structured this way it is as it was provided incomplete and had to be completed by the teams. Additionally it was my first arduino project (i'm a java programmer)...

It was designed mostly in Fusion 360 and for the skind/hairs OpenSCAD. Fusion 360 couldn't handle the thousands of hairs, however rendering in openscad can take a few hours.

Bill of materials (BOM):

• 3x stepper motor 14HS11-1004S (Nema 14 35x25x28mm with low inductance)
• 3x stepper driver DRV8834 (this is a low voltage driver that works with 5V)
• 1x Powerbank 'Powerad Slim 2'
• 1x Bread Board 830 point
• 1x Microcontroller ATMega328P-PU (preferably with Arduino Bootloader installed)
• 1x HC-05 Bluetooth module
• 1x Gyro MPU-9250
• 1x 5V Speaker
• 1x Micro USB adapter
• 1x capacitor 220uF
• 4x capacitor 100uF
• 1x capacitor 10uF
• 2x capacitor 10pF
• 4x resistor 1 kOhm
• 4x resistor 10 kOhm
• 1x Pushbutton
• 1x crystal 16 MHz
• (optional) Bluetooth Stick for your computer (upload Arduino sketches directly from arduino ide)
• some breadboard wires or cut and strip wires yourself

Print Time: About 24 hours I used an Kossel XL and a 0.25mm nozzle Material: PLA The tire have to be printed in a flexible material (i used Nijaflex), or you can print tires and wheels as one part in PLA.