BALLBOT

What is it? 

Ballbot​

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A what now?

An inverted pendulum that balances on a ball

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What does it do?

It uses an accelerometer to measure it's orientation and keeps itself upright using a PD controller

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Where was this built?

Georgia Tech

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What tools did I use?​

Software:

• C++

• Arduino Libraries (which I ported to work with my TI microcontroller)

• Code Composer Studio

• Simulink

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Hardware:

• MSP432 (ARM M4 based micro)

• Dynamixel Servos

• Bosch BNO080 IMU

• ICs for half-duplex serial communication