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A coaxial self-balancing scooter based on design

Coaxial Meile Balance Scooter Design Based on ESP32

This design cleverly combines high-performance hardware components with efficient software algorithms, aiming to provide enthusiasts and the education market with an economical yet fully functional self-balancing scooter solution. The entire project cost is kept below 300 RMB, achieving a perfect balance between cost-effectiveness and playability. The design uses the ESP32-WROOM as the main controller, integrating an MPU6050 gyroscope for attitude control, and is equipped with an OLED display for real-time status information, as well as four motor encoder interfaces to ensure precise motion control. For a detailed design reference, please refer to the reference project: https://oshwhub.com/yuyxz/coaxial-wheat-wheel-balance-car
I. Project Background and Objectives With the advancement of technology and the rise of DIY culture, personal mobile devices such as self-balancing scooters are becoming increasingly popular. However, most self-balancing scooters on the market are expensive and lack transparency, making it inconvenient for enthusiasts to learn and customize. This project aims to break this limitation by providing a low-cost, highly customizable self-balancing scooter solution through open-source design, encouraging technological exploration and innovative practices.
II. Hardware Selection and Design ### Main Controller: ESP32-WROOM The ESP32-WROOM is an ideal choice for this design due to its integrated WiFi and Bluetooth functions, powerful processing capabilities (dual-core 32-bit processor), and abundant GPIO resources. It efficiently processes sensor data, motor control, and wireless communication tasks, providing a robust control core for the self-balancing scooter.
### Sensors: MPU6050 Gyroscope The MPU6050 is a high-performance 6-axis motion processor that integrates a three-axis gyroscope and a three-axis accelerometer, a key component for achieving balance control. Connected to the ESP32 via an I2C interface, the MPU6050 accurately measures the vehicle's attitude changes, providing real-time data for the balance algorithm.
### Display: OLED Display To enhance user experience and facilitate debugging, an OLED display is incorporated into the design. Its compact size and lightweight design clearly display battery level, operating mode, speed, and other information, providing users with a clear overview of the vehicle's status.
### Motors and Encoders The self-balancing scooter uses a four-motor drive system, with each motor equipped with an encoder. Precise measurement of wheel speed enables precise dynamic control of the vehicle. The motor encoder interface is directly connected to the GPIO of the ESP32, and the motor output is adjusted through a precise PID algorithm to ensure balance, stability, and flexible motion control. Using a second-hand Nidec motor greatly reduces the cost of the motor. Note: When purchasing wheels (I used 6mm couplings, 80mm diameter Mecanum wheels), you need to ask the seller if the motor shaft can be installed.  
III. Software Design and Implementation The software part mainly includes sensor data processing, motor control algorithm, user interface development, and wireless communication functions.
1. **Attitude Control Algorithm**: Based on the data from the MPU6050, an extended Kalman filter (EKF) is used to fuse accelerometer and gyroscope data to achieve accurate attitude estimation. On this basis, a PID control algorithm is applied to adjust the motor output according to the deviation to maintain vehicle balance.
2. **OLED Display Interface**: Using a UTFT library or a similar graphics library, a simple and intuitive user interface is designed. The displayed content includes, but is not limited to, vehicle status, mode switching options, and fault prompts, enhancing the user experience.
3. **Wireless Communication:** Utilizing the Wi-Fi functionality of the ESP32, a mobile app or web interface can be developed to enable remote monitoring, parameter adjustment, and firmware upgrades, providing users with greater customization options.
IV. Cost Control and Optimization: Through careful material selection and design optimization, the overall cost was strictly controlled to within 300 RMB. Key factors included: - Selecting cost-effective components, such as the multi-functional ESP32-WROOM, reducing the need for additional modules. - Utilizing open-source hardware and software resources to reduce R&D costs. - Streamlining the design, eliminating unnecessary functions, and maintaining a simple and efficient system.
V. Conclusion: This design successfully creates a low-cost, fully functional coaxial balance scooter by integrating the powerful performance of the ESP32, the precise sensing of the MPU6050, the intuitive display of the OLED, and the high-efficiency motor encoder system. This open-source design not only provides enthusiasts with a practical platform for learning electronics, control theory, and programming, but also provides educational institutions with a high-quality teaching tool, promoting the popularization and innovation of technical knowledge. In the future, we look forward to the community further improving and innovating based on this design, jointly promoting the development of personal mobile device technology.