1. Introduction

The project uses ART-Pi as the controller, imitation ODrive as the driver, and uses 2312S brushless motor, domestic MT6816 magnetic encoder, and MPU9255 gyro sensor (to catch a bug: module silk screen MPU9250, actual measured MPU9255, both can be used in this case) Universal), a two-wheel balancing car that uses PCB, copper pillars, and 3D printed parts as the frame. The controller program is based on the domestic embedded real-time multi-thread operating system RT-Thread, transplanted from the open source project https://github.com/stulwd/BalanceCar2 , and also referred to the project https://github.com/iamluoyijie/funny_car

Current progress: The driver for each device has been basically written and debugged, and the control algorithm has been transplanted. However, the balance car cannot yet stand up.

(The dead line warrior is really dead this time_(:з)∠)_)

2. Project details

1. Controller——ART-Pi

2. Driver - imitation ODrive

Project link: https://oshwhub.com/Knight_Sin/abcd

3. Gyroscope——MPU9255

4. Motor——2312S+MT6816

5. Frame - PCB + copper pillar + 3D printing

3. Summary

1. Reflection

(1) Time is not planned well, resulting in lack of time for debugging

(2) The hardware design is defective. The low-speed performance of the brushless motor is not good. The reducer should be accelerated.

(I took apart a box of reducers and didn’t have time to get them done)

2. Planned tasks

(1) Redesign the chassis and install reducers on both sides

(2) Use the AP6212 WiFi module on the ART-Pi to achieve wireless control and online parameter setting

(3) Install ov2640 camera to realize image transmission

(4) Design lithium battery modules to break away from the current "wired power supply" state