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

format_version: "0.1"
name: LQR Self-Balancing Two-Wheel Robot
summary: A two-wheeled self-balancing robot controlled by an LQR algorithm on an STM32F103C8T6, with a custom-drawn control board and mechanical structure.
category: rover
difficulty: intermediate
license:
  hardware: NONE
  software: NONE
source:
  repository: https://github.com/Hawking-z/LQR_phc
  ref: e433946a25dc7c9946750436b50b940909b0249d
tools:
  - soldering iron
files:
  cad: 建模/
  electronics: 平衡车驱动板/Project Outputs for 平衡车驱动板/
  images:
    - picture/robot.jpg
specs:
  power_v: 12
build_steps:
  - title: Model and assemble the mechanical structure (SolidWorks files) to mount the boar
  - title: Fabricate and solder the custom driver PCB (Altium Designer files)
  - title: Connect MPU6050 gyroscope, motor encoders, HC-08 Bluetooth and OLED display
  - title: Compute the feedback matrix with MATLAB lqr() from the linearized inverted pendu
  - title: Flash the MyPHC_F103C8T6 code and tune Q and R for balance and steering control