Build your own balanced robot with this project. Based on jjrobots and bluino.com we present an open source balanced robot with enhanced features.
- The source is merged to the platformio enviroment.
- The project is open source. You can build up your own robot for free (only hardware costs).
- The project use standard hardware like stepper, driver, electronics. You can buy it as you like.
- Use the project for education!
- Control the robot via android app
You will find all STL files and addons in the STL folder. Typically printed without support. 0.2mm thickness and 20% infill should work well.
| Pin | Function |
|---|---|
| 12 | Stepper A&B Enable |
| 26 | Stepper A STEP |
| 25 | Stepper A DIR |
| 14 | Stepper B STEP |
| 27 | Stepper B DIR |
| 13 | Servo |
| 21 | MPU-6050 SDA |
| 22 | MPU-6050 SCL |
| 32 | LED Light |
| 33 | BUZZER |
| Command Character | HTML command after IP/URL |
|---|---|
| Forward | /?fader1=1.00 |
| Backward | /?fader1=0.00 |
| Turn Right | /?fader2=0.00 |
| Turn Left | /?fader2=1.00 |
| Servo Arm | /?push1=1 |
| Beep On | Off |
| Turn Light On | Off |
| Mode PRO On | Off |
| P-Stability | /?fader3=0.00-1.00 |
| D-Stability | /?fader4=0.00-1.00 |
| P-Speed | /?fader5=0.00-1.00 |
| I-Speed | /?fader6=0.00-1.00 |
| Pieces | Description |
|---|---|
| 1 | PCB ESP32 Balancing Robot Shield |
| 1 | ESP32 DEVKIT V1 board |
| 2 | Stepper Motor Driver A4988 |
| 1 | 3 axis Acc. and Gyro sensor MPU6050 |
| 2 | Stepper Motor Nema17 |
| 1 | Servo Motor MG90S/SG90 |
| 1 | LED 3mm red |
| 2 | LED 3mm/5mm White Super Bright |
| 1 | Active Buzzer |
| 2 | V-Regulator 5V AMS1117 SOT-223 (Kit is presoldered) |
| 1 | Resistor 470 Ohm |
| 1 | Capacitor 0.1uF |
| 1 | Capacitor 100uF/16V rad. |
| 2 | Capacitor 220uF/16V rad. |
| 1 | Rocker Switch Dia. 20mm |
| 2 | Rechargeable Battery Li-ion 18650 3,7V |
| 1 | Dual 18650 Battery Holder |
| 1 | Micro USB Cable (for programming) |
| 1 | Terminal Screw 2 pin 5mm |
| 2 | Female Header 15 pin |
| 5 | Female Header 8 pin |
| 2 | Female Header 4 pin |
| 1 | Male Header 2 pin |
| 1 | Male Header 3 pin |
| 2 | Male Header 4 pin |
| 1 | Jumper cap |
| 2 | O-ring 3mm ID 82mm |
| 8 | M3x8 screw |
| 9 | M3x10 screw |
| 9 | M3 nut |
| 12 | self tapping screws 3mmx3mm |
- Connect the Wii-Remote by pressing button 1 + 2 in same time
- Wii is connected, if LED one on Wii lit
- Hold the controller horizontal
- Button 1 = piezo
- Button 2 = eyes
- Button A = servo
- Controll via gyro by pressing the B button
The easiest way to flash your Robot is to use the web flash tool. Supported browser: Microsoft Edge or Google Chrome. Follow this link for easy flashing: https://eisbaeeer.github.io/Balance-Robot_Kidbuild/flash/index.html
- Donwload ESP flasher tool. E.g.: https://github.com/Jason2866/ESP_Flasher/releases
- Download firmware.bin from release page: https://github.com/Eisbaeeer/Balance-Robot_Kidbuild/releases
- Connect to robot via Wifi
- Open http://192.168.4.1/update
- Upload firmware.bin from release page: https://github.com/Eisbaeeer/Balance-Robot_Kidbuild/releases
- Install VS-Code
- Install addon platformio
- clone repository
- open repository in VS-Code
- Compile
Date: 20220819
- Added passive buzzer support
- Robot waiting 45 seconds for Wifi connection. After that the robot will disable Wifi and switch to Wii-remote bluetooth
Date: 20220727
- Added Wii-Remote as remote controller
Date: 20220703
- Added OTA firmware web update
- Optimized web control
Date: 20220627
- Added joystick via browser
- Added background live view with esp32-camera
- Added light, sound, servo control
Date: 20220529
Contributor: Kidbuild
- Added Web control for any browser
1. Connect to wifi of B-Robot
2. Open browser at 192.168.4.1
3. Take control via touch screen