MCDGF Self-Balancing Car

An ESP32-based self-balancing robot car with dual wheels, open-source hardware and software, including 3D models and BOM.

Wheeled
No license: all rights reserved by the creator
arduino
3D printable

Suggested by Robotheca, created by @macolin007 (opens in a new tab), from github.com/macolin007/mcdgf (opens in a new tab). Pinned to commit fce0cbe (opens in a new tab).

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Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository has no photo of the robot yet.

Weight: 80 g

What it can do

Written by Robotheca from the project's documents.

Balances itself on two wheels
Moves forward and backward
Turns left and right
Adjusts PID parameters via Bluetooth from a smartphone

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's steps, each with its instructions.

1Prepare 3D printed parts
2Assemble mechanical structure
3Install electronics and wiring
4Upload and configure software
5Calibrate and test balance and movement

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

ESP32 microcontroller
Dual BLDC motors with encoders
IMU sensor for tilt detection
Motor drivers
Power supply module

Connections

ESP32 connects to motor drivers via GPIO pins
Bluetooth module is connected to UART pins on ESP32
Motor drivers receive power from the power supply module
Encoders are wired to motor drivers or ESP32

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 30/100Incomplete documentation
Parts: –
Tools: 3D printer, soldering iron, pliers, wire strippers

Buildability30/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit fce0cbe. It isn't a rating of the robot.

3D and CAD files10/20
1 CAD source file.
Add the parts to print (STL or 3MF files).
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.
Software15/15
Code in this repository, instructions to install or run it, built on arduino.
Documentation5/15
README of 589 characters with 0 pictures; 5 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it. Show the robot and its assembly in pictures in the README.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: arduino
Languages: C++
License: NONE

The code

Code/C++ · 1 file

How to run it

Written by Robotheca from the project's documents.

Install Visual Studio Code with PlatformIO extension
Open the project folder in PlatformIO
Configure the project for ESP32 in platformio.ini
Upload the firmware to the ESP32 using PlatformIO

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

Project files

Every file of the project: code, CAD, electronics, guides, at commit fce0cbe.

Community

Questions and improvements go to the creator's repository.

Photo