Balance Car

A self-balancing robot car controlled via Bluetooth with STM32 and Android support.

Wheeled
Open source
3D printable

Suggested by Robotheca, created by @shuai132 (opens in a new tab), from github.com/shuai132/BalanceCar (opens in a new tab). Pinned to commit b75e464 (opens in a new tab).

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Hardware license: GPL-3.0-only (opens in a new tab)
Software license: GPL-3.0-only (opens in a new tab)
Commercial use: Allowed

Some folders have their own license: Android/ (Apache-2.0), STM32/ (Apache-2.0).

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (1 file marked executable, 1 script, 6 programs or installers)

Balance Car, photo from its repository — Photo:@shuai132 (opens in a new tab)GPL-3.0-onlysource file (opens in a new tab)

3D preview converted from github.com/shuai132/BalanceCar at b75e464, under GPL-3.0-only. View the original files from GitHub (221 KB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Balances on two wheels
Moves forward and backward
Turns left and right
Communicates via Bluetooth 4.0
Controlled from an Android app

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The guide appears here as you scroll.

Guide by @shuai132 (README.md), under GPL-3.0-only. The English translation is by Robotheca, shared under the same license.

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

STM32F401 microcontroller (ARM Cortex-M4, 32-bit, FPU, 105 DMIPS)
LSM6DS3 inertial measurement unit (IMU)
BlueNRG Bluetooth Low Energy 4.0 module
Motor driver board
Core board
Battery power supply

Connections

STM32F401 connected to BlueNRG via UART or SPI
Motor driver board connected to STM32F401 via GPIO and PWM
Power supply connected to motor driver board and STM32F401

Schematics, boards and diagrams

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 45/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, Altium Designer, Keil, Android Studio

Buildability45/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit b75e464. It isn't a rating of the robot.

3D and CAD files20/20
1 printable part (STL, 3MF), 1 CAD source file.
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.
Software10/15
Code in this repository, instructions to install or run it.
Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation5/15
README of 306 characters with 6 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.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-3.0-only; software: GPL-3.0-only.

Software

Framework: Not stated
Languages: C, Java, Assembly
License: GPL-3.0-only

The code

How to run it

Written by Robotheca from the project's documents.

Open Android Studio project in Android folder
Build and install Android app on a smartphone
Open STM32 Keil project in STM32 folder
Compile and flash firmware to STM32F401 using Keil
Pair smartphone with BlueNRG module via Bluetooth
Launch Android app to control the robot

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

Project files

Every file of the project: code, CAD, electronics, guides, at commit b75e464.

Community

Questions and improvements go to the creator's repository.

Photo and 3D model