# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Arduino SimpleFOC Balancer
summary: A modular two-wheel self-balancing robot driven by gimbal BLDC motors and the SimpleFOC library.
category: other
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/simplefoc/Arduino-FOC-balancer
  ref: ec0e896c811f0763c2da24d362689039afac5781
tools:
  - 3D printer
  - screwdriver
files:
  parts_3d: CAD/STL/
  cad: CAD/SolidWorks/
  images:
    - images/balancer_three.jpg
software:
  framework: arduino
build_steps:
  - title: Print the 3D printed parts (center frame, wheels, MCU mount, top plate)
  - title: Acquire the hardware screws and RC car tires
  - title: Assemble the mechanical structure with the BLDC motors and encoders
  - title: Mount the SimpleFOC Shield and microcontroller
  - title: Connect the MPU6050 IMU and Bluetooth module
  - title: Upload the Arduino sketch and tune the PID controllers