Remote-Controlled Balancing Robot

Raymond EngleStanley Hanke

We will be developing a remote-controlled, self-balancing robot

Wireless communications will be managed by the eBox

Motor controls will be managed by the mbed with an H-bridge

Desktop computer will run a GUI program to connect to the eBox wirelessly

eBox will pass operator commands to the mbed via RS-232 serial

Linear shaft encoder and gyroscope is used to provide feedback to the mbed

Mbed microcontroller will use state-space integral control to determine corrective course of action

GUI interface running on a PC sends data packets containing commands over wifi to the eBox

Commands received by the eBox are forwarded to the mbed for execution

Mbed microcontroller eBox x86 embedded PC Sparkfun breakout boards:

• RS-232 Serial• Gyroscope• H-bridge

2x Phidgets DC motors Lead-Acid Battery Chassis Wireless Router Duct tape

Due to complexities of timing with the state-space controller, we are unsure whether the mbed has sufficient real-time requirements

Because of our unfamiliarity with networking in Windows CE, we are concerned that we will have difficulty establishing communications between the desktop and the eBox