I've been wanting to build a balance bot for ages and I finally have to time to make one. ArduBalance leverages the existing code base of ArduCopter to produce a simple autonomous balancing robot. Features include:
• GPS, opt_flow, and dead-reckoning
• Ardupilot mission scripting
• Full RC control
• Heading hold
• Position hold
• Stabilization, RTL, AUTO, GUIDED, FBW modes
• Mavlink 1.0 support
• APM1 and APM2 support
I'm still in the very early stages of development (this video is literally the first RC controlled run), but most of the feature have been ported from ArduCopter already. This project is closed source for now until development settles down.
The current version is an inverted foam core T, but this will evolve to something much more interesting.
Jason
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It doesn't compile for pixhawk today. It would need to be ported to the latest branch to work on Pixhawk. I have wanted to do that for some time but I just can't slot it in.
Hi Stefan, I rebuilt the roller for Sparkfun using the APM2.5. I'll do a post about it in the next month.
The code is under my name on Github.
Code is getting closer to completion. Should be testing full autonomy with GPS this weekend.
https://github.com/jason4short/ardupilot/tree/ArduRoller
It pretends to be an arducopter right now so it has all those capabilities, like joystick control, etc.
I need a few more days to get the HAL tested. I have the main loop running at full speed now and all the control code in. I just need to get the hardware tested and get it balancing again. Then I'll add in Sonar support for obstacle avoidance.
I bought the motors from Pololu.
2 x #2284 34:1 Metal Gearmotor 25Dx52L mm with 48 CPR Encoder
1 x #1569 Pololu 25D mm Metal Gearmotor Bracket Pair
1 x #1439 Pololu Wheel 90x10mm Pair - White
I am using the sparkfun motor shield since it was easy to connect to. It only requires one pin for direction where many others require two pins per motor.
Jason
I had to put it down for a few months as we switched to the HAL platform but I just picked it up again. I did have missions running a while ago:
https://www.youtube.com/watch?v=p6MeAloGdx0
That's all autonomous until the end of the video.
The new version has inertial navigation as well so if one wheel comes off the ground it won't spin up and fall over.
I hope to have a fancy new version done next week for Maker Faire.
Jason
@jason
will the ahrs code work indoors without GPS? I get a lot of drift when i run it without GPS. IS that a APM1 problem or have you solved it someway?
regards
Magnus
Can't wait for you to share!!
I just now saw this...amazing, simply amazing. Good work sir!
Make it bigger so it can hit better in competition. Force = Mass times Speed
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