Balance Robot 

The project was a two-wheel balancing system that can recover in case of loss of balance with automatic navigation and following.

Regarding the software, we used a double closed-loop control strategy in combination with a PID algorithm. By taking the output of the speed ring as the input of the vertical ring and applying PID regulation, the car could finally keep balance and move forward.

In terms of hardware, we used a homemade motherboard as the hardware loading platform, STM32C8T6 as the main control chip, MPU6050 to get the car angle feedback information, a motor with encoder to get the speed information and a camera with wireless communication technology to get the road information.

The project was eventually exhibited by the Robotics Lab at the Technology Exhibition of Nanjing Agricultural University.

(Due to the confidentiality agreement, our code cannot be made public, if you want to know the code, please get in touch with me.)