Overview:

This project is inspired by Sean HodginsPiddyBOT. Based on Arduino Nano, this is a great project for students to start learning Control systems such as PID system. With the powerful support of Arduino, advanced Robotics enthusiasts can use the Wheel-E PCB to incorporate complex codes with closed loop system using encoders or the IR sensor slots.

Supplies:

Components needed:

• Wheel-E PCB x 1 (DM to Buy)
• N20 micro metal motors x 2
• MPU6050/9250 x 1
• Arduino Nano x 1
• TP4056 Battery charging Module x 1
• XL6009 Boost Converter Module x 1
• L293d motor driver x 2
• TactileSwitch x 2
• 10Kohm Preset x 3
• 5050 RGB led x 1
• Other miscellaneous resistors

I design my PCBs in Altium software (to download click here) .At the start you need to know which features you want to be in the PCB. I wanted this PCB to have Potentiometers for adjustment and tuning of PID algorithm in real time without changing the code every time. My design uses two motor drivers in dual channel mode to provide more current capacity to the motor.

Features of this design include:

• Necessary passive components that'll be used for user interface.
• MPU6050/9250 is used for angle measurement
• L293D motor driver is used to control the N20 micro metal gear motors in Open loop
• connections two IR sensors and two servos are also added for self stand-up of the robot.
• Peripherals for Bluetooth and OLED are also provided.
• TP4056 based battery charger module ( to charge the battery hence we wont have to disassemble the bot for charging)
• GenericBoost module to boost 3.7V of the battery to operable 5V.
• Buzzer for user interface.
• Buttons to set Zero and Reset the system

Specifications of PCB:

• Size of the PCB is 77 x 94 mm
• 2 layer FR4
• 1.6 mm

Improvements :

• Self Stand up:

Wheel-E provides slots for two Servo motor connections. These can be used to make Wheel-E stand from horizontal position on its own. Since the weight is less, small servos can be easily used for this Modification.

• IR sensor based Second Feedback:

Two IR sensors can be connected directly on the PCB facing downward. These can be used as a second feedback to make the system closed loop and add potential of going forward and backward using external controller.

• Bluetooth Controller:

Wheel-E has integrated slot for HC-05 bluetooth module that can be used to control the robot via smartphone using an app.

• Encoder-Motors:

Encoded N20 motors can be used to make a complex yet fully precise two wheel balancing robot.