🤖 Self-Balancing Robot with Arduino UNO

A fully autonomous self-balancing robot designed using an MPU6050 IMU, PID control, and DC motors driven by an H-Bridge. This project demonstrates embedded real-time control, sensor fusion, and actuator feedback, showcasing a classic implementation of a 2-wheeled inverted pendulum using affordable components and an Arduino.

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🚀 Project Overview

This robot maintains its vertical balance by continuously reading its tilt angle via the MPU6050's DMP (Digital Motion Processor) and adjusting motor speeds with a PID controller. It also includes Bluetooth-based commands that allow the robot to move forward or backward while staying balanced.

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🔧 Features

• 🎯 Real-time PID control (10ms loop)
• 🧭 Tilt estimation using MPU6050 DMP
• ⚙️ Dual DC motor control with L298N H-Bridge
• 🔧 Tunable PID constants
• ⚖️ Dynamic setpoint adjustment for movement

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🧰 Hardware Components

Component	Quantity	Notes
Arduino UNO	1	Main microcontroller board
MPU6050 IMU	1	6-axis accelerometer + gyroscope
L298N Motor Driver	1	Dual H-Bridge for controlling 2 DC motors
DC Gear Motors (12V)	2	Connected to wheels
Battery Pack (7.4–12V)	1	Power source
Misc. parts	-	Wires, resistors, chassis, etc.

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📐 System Architecture

[MPU6050] --> [DMP + YPR Angle] --> [PID Controller] --> [Motor Output]

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🧠 Control Logic

1. Initialization

• MPU6050 DMP is initialized with calibration offsets.
• Interrupts are set for new sensor data.
• PID controller is initialized with Kp, Ki, Kd.

2. Main Loop

• When new data is available, pitch is extracted.
• PID computes motor correction.
• Motors are driven with PWM.

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⚙️ Default PID Constants

double Kp = 70;
double Ki = 250;
double Kd = 3;

Tune according to your hardware configuration using trial-and-error or Ziegler–Nichols method.

📷 Media

Self-Balancing.Robot.mp4

👥 Credits

Josh Sebastián López Murcia