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

format_version: "0.1"
name: ESP32 Stepper Self-Balancing Robot
summary: A two-wheeled self-balancing robot built from scratch around an ESP32, an MPU6050 IMU and NEMA 17 stepper motors.
category: other
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/FineBeer21/ESP32-self-balancing-robot
  ref: a54d1755bfac52b960e049ad697a11698e5ce0fc
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: cad_models/
  cad: cad_models/
  images:
    - assets/img2.jpeg
software:
  framework: arduino
specs:
  power_v: 12
build_steps:
  - title: Print the chassis parts (base in PETG, upper levels in PLA)
  - title: Mount the NEMA 17 stepper motors with cooling cutouts
  - title: Hand-solder the wiring on perfboard
  - title: Wire the MPU6050 IMU, A4988 drivers and ESP32
  - title: Connect the 12V LiPo battery through a buck converter to 5V
  - title: Flash the PlatformIO firmware and tune the balancing controller