• Test #3: Ultrasonic sensor HC-SR04

    Dharshan05/01/2022 at 09:20 0 comments

    Using a HC-SR04 ultrasonic sensor to track the position of the cart. 

    Limiting the minima to 10cm and maxima to 45cm (~10mm clearance)

    I used a cardboard cut-out to mount the sensor, and also as a rebound surface, 

    Although the least count is 1cm here, the reading seems to be pretty precise.  

  • Test #2: Seeed magnetic encoder

    Dharshan04/12/2022 at 14:36 0 comments

    Testing the magnetic encoder sensor from seeed with my Inverted pendulum system.

    Magnet used: 5mm NdFeB cube Magnet 

    Used a basic code of I2C comm. 

    The sensor was very accurate and consistent. 

    Looking forward to integrate the Ultrasounic range sensor next. 

  • Test #1: Stepper motor test

    Dharshan04/11/2022 at 15:31 0 comments

    Inverted pendulum system using a Nema17 stepper motor, driven by Microstep driver

    Controlled by a Rotary encoder interfaced using arduino uno.


    • Better control achieved.
    • Pulsed motion.

    Further developments: 

    • Program modification for smoother motion
    • Need to verify structure integrity.

  • Test #0: Motor and mechanism trial.

    Dharshan10/27/2021 at 16:48 0 comments

    Inverted pendulum system using 12V 775 DC motor, driven by L298N motor driver.
    Controlled by a joystick interfaced using an arduino uno.

    - Irregular and abrupt motions.
    - Motor unable to provide enough torque
    - difficulty in precise controlling of the motor

    - Driver limitations 2A output per channel. Hence, could not provide enough torque for smooth            transmission.
    - Mechanism is smooth without the motor involved.

  • Final assembly

    Dharshan10/27/2021 at 16:13 0 comments

    Complete assembly - belt, pulleys and electronics

  • 3D printing

    Dharshan10/27/2021 at 16:10 0 comments

    PETG - 3D printed parts:

    1. Pendulum rod holder
    2. Motor holder
    3. Idler pulley holder
    4. Sensor holder

  • Assembly

    Dharshan10/03/2021 at 14:22 0 comments

  • CAD model

    Dharshan10/03/2021 at 11:38 0 comments

    Black parts are 3D printed parts. STL files to be uploaded soon. 

  • Materials

    Dharshan09/24/2021 at 06:19 0 comments

    Attaching images of items procured. 

    Meanwhile designing models that need to be 3D printed - motor mount, base plate, etc.

    Soon to upload CAD models of the setup