Segway Generation #2

Final Document

Written By: Adham Ibrahim, Project Manager Executive Summary: The Micro-SegBot is a self-balancing two-wheeled robot that was built as a toy for hobbyists and children. It was designed to emulate a full size Segway. As the name suggests, the Micro-SegBot will be considerably minuscule in size when compared to the Segway. The Micro-SegBot will be […]

Power Report

By Adham Ibrahim, Project Manager The Micro-SegBot has four electronic components that consume power. The components are as follows: Arduino Nano MPU-6050 HC-06 Bluetooth Module L298P Motor Driver These components will be supplied by a 7.4 V, 2800 mAh, 15 C battery. The maximum consumption under normal operation is 4543 mA, which can easily be […]

Mass Report

By Adham Ibrahim, Project Manager The Micro-SegBot was designed to be a light weight robot while still being able to meet the speed requirement of 3 ft/s and be capable of ascending a 6 degree ramp as stated in the requirements. The mass breakdown for the Micro-SegBot is shown in the images below.   The […]

Micro-SegBot Budget

By Adham Ibrahim, Project Manager Project Costs The Micro-SegBot was given a budget of $600.00 to complete the project. However, once the project got underway we found that the project could be successfully completed with a much lower budget. The total cost for our group to complete the project was only $226.16 and the electronics were […]

MPU 6050

By Jorge Morales, Systems Engineer This microsegbot project is a modern day application of the classical control systems problem of the inverted pendulum. The inverted pendulum problem is an overturned pendulum with the mass suspended above its pivot point. The challenge of this problem is stabilization. Since this project involves a very accurate description of […]

Motor Driver

By Jorge Morales, Systems Engineer Given the specifications used for our requirements, we decided to use a L298 motor driver. Our initial approach was to obtain the formulas used to get the values required for our project. With my electronics engineer, we found the necessary values for torque, speed, voltage, and weight. The specific calculations […]

Selecting a Micro-Controller

By Jorge Morales, Systems Engineer For our micro-segbot project, our first dilemma was finding the appropriate components that fitted our constrained dimensions. The first component that we looked into was finding a suitable microcontroller. Looking at the previous semester’s segbot, and other examples online, we found that the majority were using an Arduino Uno as […]

PID Algorithm

By Jorge Morales, Systems Engineer Equipment: Arduino Nano, Arduino IDE, 3 10kΩ potentiometers, MPU 6050, Breadboard, L298P Motor Driver   Test: The proportional integral derivate (PID) algorithm was one of the most important parts of this project. In order to find the correct gains for this algorithm, I used three potentiometers to determine the best […]

Motor Driver Test

By Jorge Morales, Systems Engineer   Equipment: Arduino Nano, Arduino IDE, L298, Oscilloscope, Breadboard Test: To ensure that our motors would work properly, we first needed to test the motor driver. We first began testing the driver by setting up the appropriate enable and input pins on one channel of the motor driver. I connected […]

Micro-Controller Test

By Jorge Morales, Systems Engineer In order to become familiar with the Arduino microcontroller, our division manager assigned us a workshop so we could learn about the Arduino IDE software. In the workshop, we were assigned to create a four-bit binary counter that would count upward, from zero to fifteen, and display the number in […]