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

format_version: "0.1"
name: Inverted Pendulum Balancing Robot (ESP32)
summary: A two-wheel self-balancing inverted pendulum robot, first controlled by a hand-tuned dual PID and then by a PPO-trained neural network trained in MuJoCo and running on an ESP32.
category: other
difficulty: advanced
license:
  hardware: MIT
  software: MIT
source:
  repository: https://github.com/SHuttooo/robot-pendule-inverse
  ref: f981400741f28cde6cb04901b127841e2d1516e3
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: hardware/cao/
  cad: hardware/cao/solidworks/
  docs: docs/
  images:
    - docs/media/robot_trois_quarts.jpg
software:
  framework: arduino
build_steps:
  - title: Print the 3D printable parts from hardware/cao/
  - title: Assemble the mechanics following hardware/README.md
  - title: Wire the ESP32, A4988 drivers and MPU-6050 IMU per hardware/wiring.md
  - title: Flash firmware/robot_balancier/robot_balancier.ino via the Arduino IDE
  - title: Tune the dual PID, then optionally train and deploy the PPO policy