B-Robot

A self-balancing Arduino robot, fully 3D printed, that can be driven from a smartphone or roam autonomously while avoiding obstacles.

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

Self-balancing two-wheeled robot controlled from a smartphone or tablet over Wi-Fi using the OSC protocol.
Manual mode: driven by external OSC control messages sent from a phone or tablet app such as TouchOSC.
Autonomous mode: uses an ultrasonic sonar sensor to detect obstacles, turns until a clear path is found, then continues.
Stability control uses a PI speed loop feeding a PD angle loop, with the output integrated into motor acceleration.

This repository has no parts list Robotheca can read yet.

The guide appears here as you scroll.

Guide by @JJulio (README.md), under GPL-2.0-only.

Notes written by Robotheca from the project's documents.

Custom WITA board based on an Arduino Leonardo with an integrated RN131 Wi-Fi module.
Two NEMA17 stepper motors.
A4988 stepper motor drivers configured for 1/8 microstepping.
MPU6050 inertial measurement unit using the internal DMP quaternion solution at 200 Hz.
LV-MaxSonar-EZ3 sonar sensor for obstacle detection.

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 39b6990. It isn't a rating of the robot.

3D and CAD files10/20
4 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software15/15
Code in this repository, instructions to install or run it, built on arduino.
Documentation0/15
README of 1,351 characters with 0 pictures; 0 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it. Split the build into at least 3 steps. Show the robot and its assembly in pictures in the README.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-2.0-only; software: GPL-2.0-only.

Written by Robotheca from the project's documents.

The repository holds Arduino, C and C++ code, with libraries in a libraries folder and the main sketch in a B_ROBOT folder.
The RN131 Wi-Fi module runs in Soft AP mode, creating its own network that the smartphone must join; no existing Wi-Fi network is needed.

Robotheca doesn't review code. Read it before running it.

Every file of the project: code, CAD, electronics, guides, at commit 39b6990.

Questions and improvements go to the creator's repository.