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

format_version: "0.1"
name: DengFOC Inverted Pendulum
summary: A low-cost, small inverted pendulum robot using DengFOC motor driver and SimpleFOC for balance control.
category: other
difficulty: intermediate
license:
  hardware: GPL-3.0-only
  software: GPL-3.0-only
source:
  repository: https://github.com/ToanTech/Inverted_Pendulum_DengFOC
  ref: 2d61e88e6fa9e15bddd7c38070db413a02f34a75
tools:
  - 3D printer
  - soldering iron
  - Arduino IDE
files:
  parts_3d: 3D模型/
  images:
    - pic/IP_cal.jpg
software:
  framework: arduino
specs:
  weight_v: 16.8
build_steps:
  - title: Watch assembly tutorial videos
  - title: Prepare DengFOC V3 controller
  - title: 3D print all parts at 100% infill
  - title: Assemble mechanical components
  - title: Connect electronics (DengFOC, AS5600 encoders, 2204 motor)
  - title: Upload and calibrate the program
  - title: Tune LQR parameters if necessary