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Self-balancing Robot Car📖
00.Get started quickly
  • 01.Balance car manual
  • 02.Balancing car assembly
  • 03.Get started quickly
  • 04.Balance car interface description
  • 05.Common Problem Analysis
  • 06.Balance Car V2 Library Function Development Manual
01.Environment development
  • 01.MDK-ARM installation
  • 02.STM32CubeIDE installation
  • 03.Common driver installation
  • 04.Download the program
  • 05.MDK-ARM project usage
  • 06.Program simulation
  • 07. VSCode Installation
02.STM32 getting started course
  • 01.Project creation
  • 02.LED Control(GPIO)
  • 03.Buzzer control(GPIO)
  • 04.Button control(EXTI)
  • 05.Serial communication(USART)
  • 06.Voltage detection(ADC)
  • 07.Basic timer(TIM)
  • 08.Universal timer(TIM)
  • 09.Advanced Timer(TIM)
  • 10.I2C Communication(I2C)-OLED
  • 11.SPI communication(SPI)-2.4G handle
  • 12.Independent Watchdog (IWDG)
  • 13.Window Watchdog (WWDG)
  • 14.DMA-USART
  • 15.DMA-I2C
03.STM32 expansion course
  • 01.Battery voltage detection (ADC)
  • 02.Ultrasonic module-measuring distance (TIM)
  • 03.Motor drive+encoder (TIM)
  • 04.OLED Data-Display(I2C)
  • 05.MPU6050-Data Read (I2C)
  • 06.Bluetooth module-Data reading (USART)
  • 07.2.4G handle-Data reading (SPI)
  • 08.Tracking module-Read status (GPIO)
  • 09.CCD module-Reading data (ADC)
  • 10.Electromagnetic module-Reading data (ADC)
  • 11.K210 module-Serial communication (USART)
  • 12.Tmini-Plus lidar-Reading data (USART)
04.Robot car PID control course
  • 01.PID basic concept
  • 02.PID example analysis
  • 03.P, PI, PD controller theory
  • 04.Position PID
  • 05.Incremental PID
  • 06.Cascade PID
  • 07.Balance principle of car
  • 08.Car upright control (PD)
  • 09.Car speed ​​control (PI)
  • 10.Car steering control (PD)
  • 11.Got angle and angular velocity (DMP algorithm)
  • 12.Got angle and angular velocity (Kalman filter algorithm)
  • 13.Got angle and angular velocity(Complementary filter algorithm)
05.Robot car basic course
  • 01.Car parameter adjustment
  • 02.Ultrasonic obstacle avoidance
  • 03.Ultrasonic follow
  • 04.Bluetooth remote control
  • 05.Load balance
06.Robot car advanced course
  • 01.4-channel tracking
  • 02.4-channel tracking avoid
  • 03.2.4G handle control
  • 04.CCD tracking
  • 05.CCD tracking avoid
  • 06.Electromagnetic tracking
  • 07.K210-QR code recognition
  • 08.K210-Color line tracking
  • 09.K210-Color follow
  • 10.K210-Self learning
  • 11.K210-Number recognition
  • 12.Lidar avoid
  • 13.Lidar guard
  • 14.Lidar follow
  • 15.Lidar patrol
  • 16.Lidar wall tracking-straight line
  • 17.Lidar wall tracking-multiple walls
  • 18. DIY Automatic driving car
07.Robot car LQR control
  • Robot car LQR control
08.Circuit design
  • 01.Overall circuit design
  • 02.STM32 minimum system
  • 03.Serial port circuit design
  • 04.Power circuit design
  • 05.MPU6050 Circuit Design
  • 06.Motor drive circuit design
09.Mathematical model
  • Mathematical model
10.Expand course
  • Autonomous Driving
Download
  • APP(Android)
  • Codes
  • Hardware-Info
  • SCH
  • Software Tools
  • STM32_Chip_DataSheet
  • 3D_Model_File
  • Video_PPT
Download ZIP

Welcome to Self-balancing Robot Car repository

03.Get started quickly

Get started quickly

Get started quickly1. BalanceBot2. Assemble the balance car3. Download the programDevice connectionProgram download4. Program startup5. Bluetooth Remote ControlBluetooth ConnectionMain control interfacePID debuggingWaveform display

The tutorial demonstrates how to quickly experience the Bluetooth remote control function of the balance car.

1. BalanceBot

Use the mobile browser to scan the QR code to download the BalanceBot APP (only supports Android)

image-20240905102958598

2. Assemble the balance car

Follow the assembly video to check whether all the hardware of the balance car is installed and connected correctly.

3. Download the program

Device connection

Use a Type-C data cable to connect the computer USB port and the Type-C burning port of the development board:

image-20240829105232034

Program download

Burn the stm32_Balance_Car_L.hex file of the Large program project to the development board through the FlyMCU software: The stm32_Balance_Car_L.hex file is located in the OBJ folder of the project.

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Product supporting documents software path: Attachment → Software tools → FlyMcu.zip
Product supporting documents source code path: Attachment → Source code summary → 0. Large program → 1. Standard library (keil)

image-20240830122924636

4. Program startup

After the program is downloaded to the development board, turn on the power switch of the expansion board; after the program is started, the OLED will display the current function mode.

Mode Switch

Turning any motor tire can switch the mode selection.

Mode Selection

KEY1 button is used to confirm the mode selection and control startup.

Function Mode Description

Note: Quick Start only demonstrates the Bluetooth control function. Other function modes require the installation of corresponding expansion accessories. For detailed usage, please refer to the [Advanced Balance Car Play] tutorial.

Function ModeDescription
1.Standard ModeStandard Mode: Bluetooth Control
2.UT FollowUltrasonic Follow Mode
3.UT AvoidUltrasonic Obstacle Avoidance Mode
4.Load MovementLoading Mode: Bluetooth Control
5.Handle Control2.4G Wireless Handle Control Mode
6.IR TrackFour-way Line Patrol Mode
7.Adv IR TrackHigh Difficulty Four-way Line Patrol Mode
8.K210 QR RecK210 QR Code Recognition Mode
9.K210 TrackK210 Line Patrol Mode
10.K210 FollowK210 Follow Mode
11.K210 Self LearnK210 Self-Learning Mode
12.K210 Num RecK210 Number Recognition Mode
13.LiDAR AvoidRadar Obstacle Avoidance Mode
14.LiDAR FollowRadar Follow Mode
15.LiDAR GuardRadar Guard Mode
16.LiDAR PatrolRadar Patrol Mode
17.LiDAR StrLine1Radar Straight Line Mode
18.LiDAR StrLine2Radar Along Wall Mode
19.CCD TrackCCD Track Mode
20.EM TrackElectromagnetic Track Mode

5. Bluetooth Remote Control

Before using Bluetooth remote control, we need to install the BalanceBot APP.

Bluetooth Connection

When you open the BalanceBot APP for the first time, it will automatically search and connect to nearby Bluetooth devices. We need to bring the phone close to the robot, and the BalanceBot APP will automatically connect; if the connection is successful, a "Connection Successful" prompt will appear.

If no search is found, you can click the Bluetooth search and connection options in turn.

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Note: The mobile phone needs to turn on the Bluetooth function and allow the Bluetooth remote control APP related permissions

image-20240911171423938

Main control interface

Used for basic control and data display of the balance car.

image-20240909141029619

Direction control

The main control interface can control the movement of the balance car through buttons, gravity and joysticks.

Data display

The main control interface will automatically obtain gravity, ultrasonic distance, battery voltage, and left and right motor speed display.

PID debugging

Used for online query and adjustment of PID parameters to achieve the best effect.

image-20240909141003294

Vertical ring

Adjust the vertical ring PD parameters, support dragging and keystrokes to update data.

Speed ring

Adjust the speed ring PI parameters, support dragging and keystrokes to update data.

Steering ring

Adjust the steering ring PD parameters, support dragging and keystrokes to update data.

PID parameter range

Click the P, I, D options on the interface to adjust the adjustment range of each PID parameter.

image-20240910105128731

Waveform display

Check the corresponding option to display the dynamic changes of acceleration, gyroscope, and battery voltage data.

image-20240909141057183

Balancing car assembly
Balance car interface description

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