Zippy

A 3D printed Arduino Nano based two-wheel balancing robot with a custom PCB and optional bumpers.

3D preview converted from github.com/elkayem/ZippyTheBalancingRobot at 7040419, under GPL-3.0-only. View the original files from GitHub (3.4 MB) (opens in a new tab)

What it can do

Written by Robotheca from the project's documents.

Balances on two wheels as a self-balancing robot using gyro and accelerometer feedback with PID control.
Driven by two 30:1 metal gearmotors with encoders.
Controlled by a remote control with a PWM receiver.
Optional companion eye display with colored or rainbow LED patterns, controlled from the remote's left throttle stick.

This repository has no parts list Robotheca can read yet.

The guide appears here as you scroll.

Guide by @elkayem (README.md), under GPL-3.0-only.

Notes written by Robotheca from the project's documents.

Arduino Nano controller.
Custom PCB or breadboard built from the included schematic.
2 x VNH5180A motor drivers.
2 x 30:1 Metal Gearmotor 37Dx68L mm with 64 CPR encoders.
GY-521 MPU-6050 gyro/accelerometer breakout board.
16x2 character LCD display.
3S 3000mAh LiPo battery.
Remote control with PWM receiver.
Two Schottky diodes.
Resistors, capacitors, 10K trimpot, pushbutton and connectors.
Optional second Arduino Nano or Pro Mini with two RGB LEDs and six 300 ohm resistors for the eyes.

Wiring details are given in the Eagle schematic, which the documents refer to rather than describe.
The MPU-6050 must be mounted with its +X axis facing the front of the robot.
Motor leads may need swapping to correct wheel polarity.

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 7040419. It isn't a rating of the robot.

3D and CAD files10/20
8 printable parts (STL, 3MF).
Add the CAD source (STEP, or the CAD program's own files) so people can change the design.
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.
Documentation10/15
README of 3,323 characters with 6 pictures; 0 build steps.
Split the build into at least 3 steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses10/10
Hardware: GPL-3.0-only; software: GPL-3.0-only.

Written by Robotheca from the project's documents.

Flash the Arduino Nano with the balancing robot code from the repository.
Tune the PID gains until the response is crisp without oscillation, increasing them as needed for the robot's inertia.
For the eyes, flash the separate ZippyEyes code onto a second Arduino Nano or Pro Mini.

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

Every file of the project: code, CAD, electronics, guides, at commit 7040419.

Questions and improvements go to the creator's repository.