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CS12

CS12

singhparnika23singhparnika23
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CS12

This project is a self-balancing robot.

Our goal is to build a 2-wheel robot that uses an IMU (gyro + accelerometer) and a PID-style control loop to stay upright. The robot will accept wireless joystick commands to drive forward/back and turn, and can also recover from small pushes/tilts while still moving. 

If there is additional time, extra features include enabling smoother driving, swappable trays on top, 2 lb payloads, and brushless motors.

motor_test.ino

ino - 1.82 kB - 02/23/2026 at 19:52

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code_test.ino

ino - 6.43 kB - 02/23/2026 at 19:52

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mpu_tilt_code.ino

Initial code to measure pitch/output sensing for MPU tilts.

ino - 2.84 kB - 02/07/2026 at 02:27

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  • 1 × Raspberry Pi Pico (RP2040)
  • 1 × MPU-6050 IMU module (gyro + accel, I2C)
  • 1 × Dual DC motor driver board (TB6612FNG)
  • 1 × nRF24L01+ radio module (receiver)
  • 1 × 10–47 µF electrolytic capacitor (for nRF24 power)

View all 9 components

  • Week 6 Updates

    ssubramanian • 02/21/2026 at 01:31 • 0 comments

    WEEK 6 UPDATES:

    • Chassis assembly
    • Mounted everything, added radiomodule
    • Wrote new code
    • Current challenges: need to reprint chassis because it is currently held together by tape
    • New revised CAD design
      • Added slots for wires
      • Widened it because the battery is too big for chassis
      • Less empty space
      • Added slot for potentiometer
      • Make it so screws can fit with bigger tolerances
      • Slots instead of prongs, easier and more stable

  • Project Timeline

    ssubramanian • 02/07/2026 at 02:25 • 0 comments

    Current timeline:

    • 1/26: CAD layout (initial)
    • 2/2: Robot chassis assembled, motor test code committed
    • 2/9: IMU readout
    • 2/16: PD control code committed
    • 2/23: Tuning log + design review
    • 3/2: Verified failsafe behavior checklist + addition of nice-to-have features
    • 3/9: Final project demo

View all 2 project logs

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