## SegBot: Dealing with vibration problems

Dealing with vibration problems by The-Bao Nguyen   The vibration of the motor became a big problem in balancing the segbot.  At full power the vibration would cause harmonic oscillation and would distort the IMU angle by 10 degree. We found this out by putting the Segway upside down and run the motor at different duty […]

## SegBot: Modeling

MODELING by The-Bao Nguyen   An inverted pendulum balance itself by shifting it cart back and forth until the pendulum is upright. To do this, the force of the cart need to be greater than the force Opposing; the moment in this case is the perpendicular force * distance acting on the center of mass. As […]

## SegBot: Final Documentation

1. Executive Summary: Overview: The purpose of our project is to build a self-contained self-balancing two wheeled robot that is controlled by the user to maneuver through a flat course in the classroom. The SegBot should be controlled by an Android phone through Bluetooth and by a laptop using Arxterra. The requirements we established helped […]

PDD SegBot

## SegBot: Schedule

Schedule by Adrian Cueva The SegBot schedule was created using Microsoft Project. The milestones for the schedule were: Preliminary Design Review, Project Documentation Preliminary, Critical Design Review, and Project Documentation Final. The other tasks are unique to the SegBot project. They are all necessary duties for the SegBot to meet all the level 1 requirements […]

## SegBot: Arduino Bluetooth Control

Arduino Bluetooth Control by Edwin Molina   Control of the Segway robot was done through Bluetooth two-way communication. The module chosen to link the Arduino and Android phone was the HC-05 Bluetooth module. This module was chosen since it is easy to implement and allows for control of the robot for a range of up […]

## SegBot: Level 1 and 2 Requirements

Requirements by Adrian Cueva   Level 1: The SegBot shall make turns with a maximum turning radius of 1 foot and shall move forward from one designated point to another designated point 2 feet away. The SegBot shall be within a 5 inch radius of the second designated point. The SegBot shall navigate through a […]

## SegBot: Complementary Filter

Complementary Filter by The-Bao Nguyen COMPLEMENTARY FILTER Complementary Filters use both the angle from the accelerometer and gyroscope to give an accurate angle reading.   From this diagram, it is simple to tell that this is just a combination of HIGH-PASS and LOW-PASS filters. The gyroscope is put through a numeric integrator which in this […]

## SegBot: IMU

IMU by The-Bao Nguyen The purpose for using an IMU in the SEGBOT is to obtain the angle that is require to keep it balanced. An IMU is an electronic measuring devices that consist of a gyroscope and an accelerometer. The IMU that the SEGBOT is using is the MPU6050. It operate at 3.3v and […]

## SegBot: Power Budget

Power Budget by Eric Pak The power budget gives us a quantitative look at how much power the SegBot will consume. The datasheets provided with the components is the best resource besides testing to show how much current each will output. If, for example, there is a tolerance of a +/- 5% the worst case […]