I’m a member of the Balena team, usually focusing on back end systems, however I had this idea to try and build a two-wheeled balance bot using the BGM111 co-processor on the Fin to run the control loops to read the sensors and drive the wheels. I’ve started with the following equipment:
- A balenaFin 1.1 with 8GB of eMMC and CM3+.
- An Adafruit 9-DOF Accel/Mag/Gyro+Temp Breakout Board - LSM9DS1.
- An Adafruit RV8833 DC/Stepper Motor Driver Breakout Board .
- Two DC Gearbox Motor - “TT Motor” - 200RPM - 3 to 6VDC.
- Two Skinny Wheel for TT DC Gearbox Motors.
- A Raspberry Pi Camera Module v2 - 8 Megapixel.
Here’s the plan:
- Physical build; I’m designing and 3D printing a simple frame which will mount the Fin, sensors, batteries and motors.
- Firmware; write a firmware in C/C++ for the Arm-based co-processor on the Fin which can run the control loops and expose an API to the compute module which has simple foward/back/left/right commands.
- Build a simple web interface that streams the camera view and can control the robot.
I expect this will take quite a while to complete as I only have one day a week free to work on it (and most of the parts have only just been ordered). I’ll post an update in this thread each week showing what I’ve worked on and where I’m at.
Today has been kind of a mixed day as I’ve been busy with other stuff too, but I started working on a frame design in Fusion 360. Today just cross-referencing with the Fin datasheet’s mechanical specs to get an idea of how I’m going to lay out the various components of the bot.
If you’re interested in this project then make sure to subscribe to this thread for updates as they happen.