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

format_version: "0.1"
name: Balance Ball
summary: A spherical robot that balances and maneuvers in three degrees of freedom using three orthogonal flywheels and a omnidirectional wheel base.
category: other
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/sytnocui/BalanceBall
  ref: 411e3fee18834c87032509338e44247a0d33f285
estimated_cost:
  amount: 1000
  currency: CNY
tools:
  - 3D printer
  - soldering iron
  - screwdriver set
  - hot glue gun
files:
  parts_3d: 0.Model/3D打印/
  cad: 0.Model/
  images:
    - picture/我是电赛组委会.png
specs:
  dof: 3
build_steps:
  - title: Prepare 3D printed parts and materials
  - title: Assemble the spherical structure and internal frame
  - title: Install the three orthogonal flywheels and motors
  - title: Mount the omnidirectional wheel base
  - title: Assemble and wire the control boards (main, FOC, encoder, gyroscope)
  - title: Install and configure the electronics (battery, motors, sensors)
  - title: Flash firmware to the control boards
  - title: Calibrate and test the system