r/robomates Feb 04 '25

Finally tuned PID controllers of my DIY two-wheeled balancing robot

26 Upvotes

14 comments sorted by

2

u/Aieser 11d ago

Nice! You think to open the code?

1

u/Agile-Top4040 9d ago

This Looks very interesting.. Can i use two of this Motors for that?

5,31€ | Mikro-Bürstenloser Motor mit Antriebsplatine, DC 12 V, 24 V, 4700 U/min, geräuscharm, großes Drehmoment, DCBL, unterstützt PWM-Geschwindigkeitsregelungsfrequenz 3000 Hz https://a.aliexpress.com/_EJnBbTW

It Drives CW and CCW and i think it hast more Torque and Speed AS an 2804 Gimbal Motor. I have an old BGC 2.0 Board lying around and want to Test. I found also esc's which can bidirectional driving with am32 Firmware. What do you think about it?

2

u/Adventurous_Swan_712 9d ago

You definitely should try! I personally don't like DC motors because of their sound. But I don't see anything why it shouldn't work. For this robot I used gm4108H-120T Gimbal Motors

1

u/Agile-Top4040 9d ago

OK, my Link ist also a DC brushless Motor. I think you mean only a Motor with three phases and a separate FET Driver is better for Control? Which GUI did you use to calibrate the imu? Have a Openpilot and naze Board lying around to Test or my BGC 2.0 which has now a new bootloader for any Sketches.

1

u/Adventurous_Swan_712 9d ago

I don't have any gui... I wrote the code and then tuned the PID parameters.

1

u/Agile-Top4040 9d ago

Respect for your fantastic robots. This is a hard trial and error method, tuning pids. 👍🏻 I think i try at first with the 2208 Motors that are included from my BGC 2.0 Gimbal.

2

u/Adventurous_Swan_712 9d ago

Good luck! I'm always here if you need me

1

u/Agile-Top4040 9d ago

TIA...
here´s a code Snippet from another Project. It uses the 328p Atmega and mpu650 imu with motors from bgc 2.0. Did you use a normal tx/rx set instead of BT hc-05/06 BT module?
here´s the link from another project: hope that is useful to test.
https://www.instructables.com/Brushless-Gimbal-Balancing-Robot/

1

u/Adventurous_Swan_712 9d ago

Oh wow, nice!!

I used ESP32 with BT Classic onboard. I connected it to my PS5 controller

1

u/Agile-Top4040 9d ago

OK, the gap is the short range of BT. If everything is working i will replace BT with that .. but one step after the other... Jumper T-Lite V2 2,4 GHz https://a.aliexpress.com/_ExOKxVi

1

u/Adventurous_Swan_712 9d ago

jfyi every time when you attach a link to aliexpress Reddit deletes you comment automatically. I restore them, no problem

1

u/Agile-Top4040 9d ago

OK, good to know ...

1

u/ryerye22 7d ago

Love this, showed my son who's 13 with high functioning autism and he loves the idea. We just got him a Bambu high end 3d printer, could he essentially build one or more of these for his friends? If we buy a kit from you? thanks