TWO WHEEL BALANCING ROBOT USING

MICROCONTROLLER ATMEGA 328P

A DISSERTATION
Submitted to

Faculty of Engineering and Technology

For the award of degree of

Bachelor of Technology
(Electronics and Communication Engineering)
Supervisor:
Er. INDERPREET SINGH

Submitted by:
MITUL TAKIAR
(2011ECA1760)
PRANAV SHARMA
(2011ECA1069)

Department of Electronics Technology

Guru Nanak Dev University
Amritsar 143005
India
1

DECLARATION
We hereby declare that the project work entitled as TWO WHEEL BALANCING
ROBOT USING MICROCONTROLLER ATMEGA 328P is an authentic record of our own
work carried out at Guru Nanak Dev University, Amritsar as required for the six months project
semester for the award of degree of B.Tech (Electronics and Communication Engineering), under
the guidance of Er. Inderpreet Singh, during Jan 2014 to April 2014.

Date:

ACKNOWLEDGEMENT

Acknowledgement is not a mere formality but a genuine attempt to remember all those people without
whose cooperation we would not have been able to complete our project.
We want to thank the Department of Electronics Technology, Guru Nanak Dev University, Amritsar
for giving us such a golden opportunity to commence this project in the first instance. We express our
sincere gratitude to Dr. Maninder Lal Singh, Head of the department, Electronics Technology who
helped us turn this opportunity into true results.
We extend our thanks to Er. Inderpreet Singh who encouraged us to go ahead with our project.
Without his able guidance and counsel it would have been impossible for us to complete this project.
We would like to thank GOD, the Almighty, for having made everything possible by giving us strength
and courage to do this work. Lastly, we wish to express our sincere appreciation to our parents for their
patience and encouragement during this work.

ABSTRACT
The project is designed to build a two wheel balancing

robotic vehicle using

MPU6050 for its movement. A microcontroller of AVR family is used to achieve the
desired operation.
A robot is a machine that can perform task automatically or with guidance. Robotics
is generally a combination of computational intelligence and physical machines
(motors). Computational intelligence involves the programmed instructions.
The balancing robot platform proved to be an excellent test bed for sensor fusion
using the Kalman filter . An indirect Kalman filter configuration combining a piezo
rate gyroscope sensor and an accelerometer is implemented to obtain an accurate
estimate of the tilt angle and its derivative.
Depending on the input signal received, the microcontroller redirects the robot to
move in an alternate direction by actuating the motors interfaced to it through a motor
driver IC.

TABLE OF CONTENTS
Declaration...................................................................................................................... 02
Acknowledgement............................................................................................................. 03
Abstract ............................................................................................................................ 04
List of figures..................................................................................................................... 07
List of tables ...................................................................................................................... 07
1. Introduction ..............................................................................................................08
1.1. Project Description .............................................................................................08
1.2. Applications ........................................................................................................08
2. Literature Review .....................................................................................................09
2.1. Complementary Filter..........................................................................................09
2.2. Kalman Filter.......................................................................................................11
2.3. PID Controller.....................................................................................................14
2.3.1.

PID controller theory..............................................................................15

2.3.2.

Limitations of PID controller.................................................................17

3. Components Review .................................................................................................19

3.1. ATmega328.........................................................................................................19
3.1.1.

Block Diagram........................................................................................20

3.1.2.

Pin Diagram............................................................................................21

3.1.3.

Features...................................................................................................23

3.2. MPU6050.............................................................................................................24
3.3. Bidirectional level converter................................................................................27
3.3.1.

Circuit.....................................................................................................27

3.3.2.

Features...................................................................................................27

3.4. L293D..................................................................................................................29
3.4.1.

Block Diagram........................................................................................29

3.4.2.

Pin Diagram............................................................................................30

3.4.3.

Features...................................................................................................31

3.4.4.

Circuit Diagram......................................................................................31

3.5. LM7805................................................................................................................32
3.5.1.

Pin Description........................................................................................32

3.5.2.

Circuit......................................................................................................32

3.6. LM317..................................................................................................................33
3.6.1.

Features....................................................................................................33
5

3.6.2.

Circuit......................................................................................................34

4. Assembling the Robot ................................................................................................35

5. Programming the robot................................................................................................39
6. Testing the robot..........................................................................................................44
6.1. PID Control Unit...................................................................................................44
6.2. Motor Speed Control.............................................................................................45
6.3. Sensor Check........................................................................................................47
Bibliography ............................................................................................................................52

LIST OF FIGURES
Figure no.

Caption

Page no.

1.

Principle of complementary filter........................................................................................09

2.

Kalman Filter in inertial navigation.....................................................................................12

3.

PID Controller block diagram.............................................................................................14

4.

Plot of PV vs time for three values of Kp (Ki and Kd held constant)..16

5.

Plot of PV vs time for three values of Ki ( Kp and Kd held constant)....16

6.

Plot of PV vs time for three values of Kd ( Ki and Kp held constant)....17

7.

ATmega328.........................................................................................................................19

8.

ATmega328 block diagram.................................................................................................20

9.

ATmega328 pin diagram.....................................................................................................21

10. MPU6050............................................................................................................................24
11. Bidirectional level converter...............................................................................................27
12. I2C using MOSFET.............................................................................................................28
13. L293D block diagram..........................................................................................................29
14. L293D pin diagram..............................................................................................................30
15. L293D Circuit diagram.........................................................................................................31
16. LM7805................................................................................................................................32
17. LM7805 Connection diagram...............................................................................................32
18. LM317...................................................................................................................................33
19. LM317 Circuit Diagram.......................................................................................................34
20. Creating a new AVR Studio-4 project..................................................................................39
21. Creating a new AVR Studio-4 project..................................................................................40
22. Building a project with AVR Studio.....................................................................................40
23. Connecting to the programmer with AVR Studio.................................................................41
24. AVR Studio-4s programmer selection dialog box................................................................41
25. Selecting the device for ISP programming............................................................................42
26. Reading the device signature.................................................................................................42
27. AVR Studios program ISP tab.............................................................................................43

LIST OF TABLES
Table no.

Caption

Page no.

1.

Comparison among ATmega variants.............................................................................19

2.

Pin description of L293D................................................................................................30

3.

Pin description of LM7805..............................................................................................32

CHAPTER 1
INTRODUCTION

1.1

Project Description
The research on balancing robot has gained momentum over the last decade in a number of
robotics laboratories around the world. This is due to the inherent unstable dynamics of the
system. Such robots are characterised by the ability to balance on its two wheels and spin on
the spot. This additional manoeuvrability allows easy navigation on various terrains, turn
sharp corners and traverse small steps or curbs. These capabilities have the potential to solve a
number of challenges in industry and society.
A balancing robot is built as a platform to investigate the use of a Kalman filter for sensor
fusion. The Kalman filter approach to sensor fusion is unprecedented. This would be a new
avenue to explore the filter for future potential applications of the Kalman filter.
Apart from the above, this thesis will delve into the suitability and performance of linear state
space controllers namely the Linear Quadratic Regulator (LQR) and a Pole placement
controller in balancing the system. The robot utilises a Proportional-Integral- Derivative (PID)
controlled differential steering method for trajectory control. A gyroscope and inclinometer is
used to measure the tilt of the robot and the encoders on the motors to measure the wheels
rotation.

1.2

Applications

A motorised wheelchair utilising this technology would give the operator great
manoeuvrability and thus access to places most able-bodied people take for granted.

Climbing up the staircase can be accomplished by using this robot to balance on two
wheels.

Small carts built utilising this technology allows humans to travel short distances in a
small area or factories as opposed to using cars or buggies which is more polluting.

CHAPTER 2
LITERATURE REVIEW

2.1 Complementary Filter

Complementary filters are defined in mathematical terms and in the context of Weiner and Kalman
filters. The derivation of common forms is explored, and it is shown why a Kalman filter is often used
within a complementary filter structure. An example of the design of a complementary filter for a
practical application is presented in detail.

Introduction
The term complementary filter is often casually used in the literature to refer to any digital algorithm
that serves to blend or fuse similar or redundant data from different sensors to achieve a robust
estimate of a single state variable. For example, in aerospace navigation systems, a complementary
filter is often utilized to estimate the position in space of an airframe by combining the high resolution
position information obtained from integrating acceleration and velocity data with the low resolution
position information obtained directly from the GPS satellite network. The data available from an
inertial navigation systems is very good information for a short period of time. However, as integration
errors grow in an unbounded fashion, they can no longer be tolerated. On the other hand, the position
errors associated with GPS data, though quite large, are bounded and well characterized. A
complementary filter combines the excellent high frequency position information derived from the
integration of inertial sensor data with the good low
frequency position information from GPS data, while rejecting the errors peculiar to each method. The
reader should note that complementary filters are in a class by themselves. While filters in general act
on a signal, the complementary filter does not. It acts only on the different kinds of noise associated
with different kinds of measurements of the same signal. It is a solution waiting for a very special
problem - that of estimating a state variable from data from multiple sources, which exhibit noise with
different frequency content.

Mathematical definition
The complementary filter is a frequency domain filter. In its strictest sense, the definition of a
complementary filter refers to the use of two or more transfer functions, which are mathematical
complements of one another. Thus, if the data from one sensor is operated on by G(s), then the data
from the other sensor is operated on by I-G(s), and the sum of
the transfer functions is I, the identity matrix. In the case of a one-dimensional filter as will be
described in this paper, the identity matrix reduces to the scalar number one.
In a typical two -input system, one input will provide information with high frequency noise, and is
thus low-pass filtered. The other input provides information with low frequency noise, and is high-pass
filtered. If the low-pass and high-pass filters are mathematical complements, then the output of the

filter is the complete reconstruction of the variable being sensed, minus the noise associated with the
sensors.
A block diagram illustrating this process with perfect 1st-order low-pass and high-pass filters is
shown below:

Figure 1 Principle of complementary filter

A simple estimation technique that is often used in the flight control industry to combine measurements
is the complementary filter . This filter is actually a steady state Kalman filter (i.e., a Wiener filter) for
a certain class of filtering problems. This relationship does not appear to be well known by many
practitioners of either complementary or Kalman filtering. One exception is the tutorial paper by
Brown which discusses this relationship without going into the mathematical details. The
complementary filter users do not consider any statistical description for the noise corrupting the
signals, and their filter is obtained by a simple analysis in the frequency domain. The proponents of the
Kalman filtering approach work in the time domain and do not pay much attention to the transfer
function or frequency domain (Wiener filter) approach to the filtering problem, since it is a less general
approach to the filtering problem. The Wiener filter solution to this class of multiple-input estimation
problems appeared in the literature, well before Kalman published his classic paper. This paper reviews
complementary filtering and shows how this technique is related to Kalman and Wiener filtering. Since
both Kalman and complementary filtering are under consideration for use in the Space Shuttle Reentry
and Landing Navigation System, the relationship between them should be well understood.

10

2.2 Kalman Filter

Kalman filters, as they are used in navigation systems, are based on the complementary filtering
principle. The basic block diagram is given in Fig. 5, although, as in the previous cases, the actual
implementation may be different. Note the similarity between Fig.5 and Fig.1(B). The complementary
constraint means that the filter just operates on the noise and is not affected by actual signals that are to
be estimated. The advantages and disadvantages of removing this constraint are discussed as follows:

In applying Kalman filtering to the problem of combining noisy measurements, the philosophy used is
that the processing of one class of measurements defines the basic process equations. The other
measurements, sometimes referred to as augmenting measurements, define the measurement equations
for the filter. After discussing the basic equations, the two examples of the previous section are
reworked using the steady-state Kalman filter approach. These examples can also be solved by the
Wiener filter approach using spectrum factorization. The relationship between the steady-state or
stationary Kalman filter and the Wiener filter is discussed in the book by Sage and Melsa [6].
Basically, there are two measurements, one of which serves as an input to a differential equation which
serves as the process model. The ideal equations are
xI = FxI + gu (process)
zI = hxI (measurement)
where u is one noiseless measurement and zI is the other. F, g, h, and x are n*n, n*1, 1*n, and n*1
matrixes, respectively; zj and u are scalars. In actuality, we have two noisy measurements, so that the
equations are
x = Fx + g(u + w)
z =hxI + v
where w and v are zero-mean, white, Gaussian noise.
The error equations are

11

where 6x is the error vector.

The Kalman filter equation is

Figure 2 Typical application of the Kalman filter in inertial navigation

where 6k is the estimate of the error vector and k is the Kalman filter gain. k, an n*1 matrix, is obtained
from the equations

where P, the n*n error covariance matrix, is the solution of the Riccati equation

in which R = u2 is the variance of the measurement noise and Q = u2 is the variance of the process
noise. The stationary Kalman filter is obtained by setting P = 0 in the Riccati equation. The actual
estimates of the signals are

In order to show the relationship with the complementary filters, the above equations can be
manipulated to produce a differential equation for

directly:

As is shown below, this equation is identical to the differential equations of the complementary filters
for the example under consideration.

12

Example 1
The process equation from Fig. 2(A) is

Therefore, F = 0, g = 1, and h = 1, so that the algebraic Riccati equation is

The filter equation is obtained by substituting into above:

This equation is identical to the equation of the complementary filter in Fig. 2(B), where the time
constant of the filter is now

Note that a time constant of four, as in the complementary

filter, means that the barometric signal is assumed to be much noisier than the accelerometer signal. In
the complementary filter, the time constant is chosen to get most of the information from the
accelerometer signal and use the barometric information only as along-term reference.

13

2.3 PID Controller

A proportional-integral-derivative
derivative
mechanism (controller))

widely

controller (PID
used

in industrial

controller)
control

is

a control

loop feedback

systems (Programmable
Programmable

Logic

Controllers, SCADA systems, Remote Terminal Units etc). A PID controller calculates an "error" value
as the difference between a measured process variable and a desired set point.. The controller attempts
to minimize the error in outputs by adjusting the process control inputs.
The PID controller algorithm involves
involves three separate constant parameters, and is accordingly
sometimes

called three-term
term

control
control:

the proportional,

the integral and derivative values,

denoted P, I, and D. Simply put, these values can be interpreted in terms of time: P depends on
the present error, I on the accumulation of past errors, and D is a prediction of future errors, based on
current rate of change. The weighted sum of these three actions is used to adjust the process via a
control element such as the position of a control valve, a damper,, or the power supplied to a heating
element.
In the absence of knowledge of the underlying process, a PID controller has historically been
considered to be the best controller. By tuning the three parameters in the PID controller algorithm, the
controller can provide control action designed for specific process requirements. The response of the
controller
troller can be described in terms of the responsiveness of the controller to an error, the degree to
which the controller overshoots the set point, and the degree of system oscillation. Note that the use of
the PID algorithm for control does not guarantee optimal control of the system or system stability.

Figure 3 PID controller block diagram

Some applications may require using only one or two actions to provide the appropriate system control.
This is achieved by setting the other parameters to zero. A PID controller will be called a PI, PD, P or I
controller in the absence of the respective control actions. PI controllers are fairly common, since
derivative action is sensitive to measurement noise, whereas the absence of an integral
integral term may
prevent the system from reaching its target value due to the control action.

14

2.3.1 PID controller theory

The PID control scheme is named after its three correcting terms, whose sum constitutes the
manipulated variable (MV). The proportional, integral, and derivative terms are summed to calculate
the output of the PID controller. Defining

as the controller output, the final form of the PID

algorithm is:

where
: Proportional gain, a tuning parameter
: Integral gain, a tuning parameter
: Derivative gain, a tuning parameter
: Error
: Time or instantaneous time (the present)
: Variable of integration; takes on values from time 0 to the present

SP: Set point

PV: Process Variable

Proportional Term
The proportional term produces an output value that is proportional to the current error value. The
proportional response can be adjusted by multiplying the error by a constant Kp, called the proportional
gain constant.
The proportional term is given by:

A high proportional gain results in a large change in the output for a given change in the error. If the
proportional gain is too high, the system can become unstable. In contrast, a small gain results in a
small output response to a large input error, and a less responsive or less sensit
sensitive
ive controller. If the
proportional gain is too low, the control action may be too small when responding to system
disturbances. Tuning theory and industrial practice indicate that the proportional term should contribute
the bulk of the output change.

15

Figure 4Plot
Plot of PV vs time, for three values of Kp (Ki and Kdheld constant)

Integral Term
The contribution from the integral term is proportional to both the magnitude of the error and the
duration of the error. The integral in a PID controller is the sum of the instantaneous error over time
and gives the accumulated offset that should have been corrected previously. The accumulated error is
then multiplied
ed by the integral gain (

) and added to the controller output.

The integral term is given by:

The integral term accelerates the movement of the process towards set point and eliminates the residual
steady-state
state error that occurs with a pure proportional controller. However, since the integral term
responds to accumulated errors from the past, it can cause the present value to overshoot the set point
value

Figure 5Plot
Plot of PV vs time, for three values of Ki (Kp and Kdheld constant)

16

Derivative Term
The derivative of the process error is calculated by determining the slope of the error over time and
multiplying this rate of change by the derivative
derivat
gain Kd. The magnitude of the contribution of the
derivative term to the overall control action is termed the derivative gain, Kd.
The derivative term is given by:

Derivative action predicts system behaviour and thus improves settling time and stabil
stability of the
system. An ideal derivative is not causal, so that implementations of PID controllers include an
additional low pass filtering for the derivative term, to limit the high frequency gain and
noise. Derivative action is seldom used in practice though
thou - by one estimate in only 20% of deployed
controllers - because of its variable impact on system stability in real
real-world applications.

Figure 6Plot
Plot of PV vs time, for three values of Kd (Kp and Kiheld constant)

2.3.2 Limitations of PID controller

While PID controllers are applicable to many control problems, and often perform satisfactorily
without any improvements or only coarse tuning, they can perform poorly in some applications, and do
not in general provide optimal control.
control. The fundamental difficulty with PID control is that it is a
feedback system, with constant parameters, and no direct knowledge of the process, and thus overall
performance is reactive and a compromise. While PID control is the best controller in an observer
without a model of the process, better performance can be obtained by overtly modelling the actor of
the process without resorting to an observer.
PID controllers, when used alone, can give poor performance when the PID loop gains must be reduced
so that the control system does not overshoot, oscillate or hunt about the control set point value. They
also have difficulties in the presence of non-linearities,
non
may trade-off
off regulation versus response time,

17

do not react to changing process behaviour (say, the process changes after it has warmed up), and have
lag in responding to large disturbances.
The most significant improvement is to incorporate feed-forward control with knowledge about the
system, and using the PID only to control error. Alternatively, PIDs can be modified in more minor
ways, such as by changing the parameters (either gain scheduling in different use cases or adaptively
modifying them based on performance), improving measurement (higher sampling rate, precision, and
accuracy, and low-pass filtering if necessary), or cascading multiple PID controllers.
Linearity
Another problem faced with PID controllers is that they are linear, and in particular symmetric. Thus,
performance of PID controllers in non-linear systems (such as HVAC systems) is variable. For
example, in temperature control, a common use case is active heating (via a heating element) but
passive cooling (heating off, but no cooling), so overshoot can only be corrected slowly it cannot be
forced downward. In this case the PID should be tuned to be over damped, to prevent or reduce
overshoot, though this reduces performance (it increases settling time).
Noise in derivative
A problem with the derivative term is that it amplifies higher frequency measurement or
process noise that can cause large amounts of change in the output. It does this so much, that a physical
controller cannot have a true derivative term, but only an approximation with limited bandwidth. It is
often helpful to filter the measurements with a low-pass filter in order to remove higher-frequency
noise components. As low-pass filtering and derivative control can cancel each other out, the amount of
filtering is limited. So low noise instrumentation can be important. A nonlinear median filter may be
used, which improves the filtering efficiency and practical performance. In some cases, the differential
band can be turned off with little loss of control. This is equivalent to using the PID controller as a PI
controller.

18

CHAPTER 3
COMPONENTS REVIEW

3.1 ATmega 328

A highly integrated chip that contains all the components comprises a controller. Typically this
includes a CPU, RAM, some form of ROM, I/O ports, and timers. Unlike a general-purpose computer,
which also includes all of these components, a microcontroller is designed for a very specific task; to
control a particular system. As a result, the parts can be simplified and reduced, which cuts down on
production costs.

Figure 7ATmega 328

Microcontrollers are sometimes called embedded microcontrollers. This just means that they are part of
an embedded system; that is, one part of a larger device or system. Microcontrollers are used in
automatically controlled products and devices, such as automobile engine control systems, implantable
medical devices, remote controls, office machines, appliances, power tools, toys and other embedded
systems. The first integrated circuit was developed by Jack Kilby of Texas Instruments and Robert
Noyce of Fairchild Semiconductor in 1950.

Comparison between ATmega48PA, ATmega88PA,ATmega168PA and ATmega328P

The ATmega48PA, ATmega88PA, ATmega168PA and ATmega328P differ only in memory sizes,
boot loader support, and interrupt vector sizes. Table summarizes the different memory and interrupt
vector sizes for the three devices.
Device

Flash

EEPROM

RAM

Interrupt Vector Size

ATmega48PA

4K Bytes

256 Bytes

512 Bytes

1 instruction word/vector

ATmega88PA

8K Bytes

512 Bytes

1K Bytes

1 instruction word/vector

ATmega168PA

16K Bytes

512 Bytes

1K Bytes

2 instruction words/vector

ATmega328P

32K Bytes

1K Bytes

2K Bytes

2 instruction words/vector

Table 1

19

3.1.1 Block Diagram:

The AVR core combines a rich instruction set with 32 general purpose working registers. All the 32
registers are directly connected to the Arithmetic Logic Unit (ALU), allowing two independent
registers to be accessed in one single instruction executed in one clock cycle. The resulting architecture
is more code efficient while achieving throughputs up to ten times faster than conventional CISC
microcontrollers.

Figure 8 ATmega328 block diagram

20

3.1.2 Pin Diagram:

Figure 9 ATmega328 pin diagram

VCC
Digital supply voltage.
GND
Ground.
Port B (PB7:0) XTAL1/XTAL2/TOSC1/TOSC2
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port
B output buffers have symmetrical drive characteristics with both high sink and source capability. As
inputs, Port B pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port B pins are tri-stated when a reset condition becomes active, even if the clock is not
running. Depending on the clock selection fuse settings, PB6 can be used as input to the inverting
Oscillator amplifier and input to the internal clock operating circuit. Depending on the clock selection
fuse settings, PB7 can be used as output from the inverting Oscillator amplifier. If the Internal
Calibrated RC Oscillator is used as chip clock source, PB7..6 is used as TOSC2..1input for the
Asynchronous Timer/Counter2 if the AS2 bit in ASSR is set.
Port C (PC5:0)
Port C is a 7-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The PC5..0
output buffers have symmetrical drive characteristics with both high sink and source capability. As
inputs, Port C pins that are externally pulled low will source current if the pull-up resistors are

21

activated. The Port C pins are tri-stated when a reset condition becomes active, even if the clock is not
running.
PC6/RESET
If the RSTDISBL Fuse is programmed, PC6 is used as an I/O pin. Note that the electrical
characteristics of PC6 differ from those of the other pins of Port C. If the RSTDISBL Fuse is
unprogrammed, PC6 is used as a Reset input. A low level on this pin for longer than the minimum
pulse length will generate a Reset, even if the clock is not running.
Port D (PD7:0)
Port D is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). The Port
D output buffers have symmetrical drive characteristics with both high sink and source capability. As
inputs, Port D pins that are externally pulled low will source current if the pull-up resistors are
activated. The Port D pins are tri-stated when a reset condition becomes active, even if the clock is not
running.
AVCC
AVCC is the supply voltage pin for the A/D Converter, PC3:0, and ADC7:6. It should be externally
connected to VCC, even if the ADC is not used. If the ADC is used, it should be connected to VCC
through a low-pass filter. Note that PC6..4 use digital supply voltage, VCC.
AREF
AREF is the analog reference pin for the A/D Converter.

22

3.1.3 FEATURES
Atmel

Manufacturer:
Product Category:

8-bit Microcontrollers - MCU

Core:

AVR

Data Bus Width:

8 bit

Maximum Clock Frequency:

20 MHz

Program Memory Size:

32 kB

Data RAM Size:

2 kB

On-Chip ADC:

Yes

Operating Supply Voltage:

1.8 V to 5.5 V

Maximum Operating Temperature:

+ 85 C

Package / Case:

PDIP-28

Mounting Style:

Through Hole

A/D Bit Size:

10 bit

A/D Channels Available:

Brand:

Atmel

Data Ram Type:

SRAM

Data ROM Size:

1 kB

Data Rom Type:

EEPROM

Interface Type:

I2C, SPI, USART

Minimum Operating Temperature:

- 40 C

Number of Programmable I/Os:

23

Number of Timers:

Packaging:

Tube

Processor Series:

megaAVR

Product Category:

Microcontrollers - AVR

Program Memory Type:

Flash

Series:

ATMEGA328

Supply Voltage - Max:

5.5 V

Supply Voltage - Min:

1.8 V

23

3.2 MPU6050

Figure 10 MPU 6050

Motion Interface is becoming a must-have function being adopted by smart phone and tablet
manufacturers due to the enormous value it adds to the end user experience. In smartphones , it finds
use in applications such as gesture commands for applications and phone control, enhanced gaming,
augmented reality, panoramic photo capture and viewing, and pedestrian and vehicle navigation. With
its ability to precisely and accurately track user motions, Motion Tracking technology can convert
handsets and tablets into powerful 3D intelligent devices that can be used in applications ranging from
health and fitness monitoring to location-based services. Key requirements for Motion Interface
enabled devices are small package size, low power consumption, high accuracy and repeatability, high
shock tolerance, and application specific performance programmability all at a low consumer price
point.
The MPU-60X0 is the worlds first integrated 6-axis Motion Tracking device that combines a 3-axis
gyroscope, 3-axis accelerometer, and a Digital Motion Processor (DMP) all in a small 4x4x0.9mm
package. With its dedicated I2C sensor bus, it directly accepts inputs from an external 3-axis compass
to provide a complete 9-axis Motion Fusion output. The MPU-60X0 Motion Tracking device, with its
6-axis integration, on-board Motion Fusion, and run-time calibration firmware, enables manufacturers
to eliminate the costly and complex selection, qualification, and system level integration of discrete
devices, guaranteeing optimal motion performance for consumers. The MPU-60X0 is also designed to
interface with multiple non-inertial digital sensors, such as pressure sensors, on its auxiliary I2C port.
The MPU-60X0 is footprint compatible with the MPU-30X0 family.
The MPU-60X0 features three 16-bit analog-to-digital converters (ADCs) for digitizing the gyroscope
outputs and three 16-bit ADCs for digitizing the accelerometer outputs. For precision tracking of both
fast and slow motions, the parts feature a user-programmable gyroscope full-scale range of 250, 500,
1000, and 2000/sec (dps) and a user-programmable accelerometer full-scale range of 2g, 4g,
8g, and 16g.

24

An on-chip 1024 Byte FIFO buffer helps lower system power consumption by allowing the system
processor to read the sensor data in bursts and then enter a low-power mode as the MPU collects more
data. With all the necessary on-chip processing and sensor components required to support many
motion-based use cases, the MPU-60X0 uniquely enables low-power Motion Interface applications in
portable applications with reduced processing requirements for the system processor. By providing an
integrated Motion Fusion output, the DMP in the MPU-60X0 offloads the intensive Motion Processing
computation requirements from the system processor, minimizing the need for frequent polling of the
motion sensor output.
Communication with all registers of the device is performed using either I2C at 400kHz or SPI at
1MHz (MPU-6000 only). For applications requiring faster communications, the sensor and interrupt
registers may be read using SPI at 20MHz (MPU-6000 only). Additional features include an embedded
temperature sensor and an on-chip oscillator with 1% variation over the operating temperature range.
By leveraging its patented and volume-proven Nasiri-Fabrication platform, which integrates MEMS
wafers with companion CMOS electronics through wafer-level bonding, InvenSense has driven the
MPU-60X0 package size down to a revolutionary footprint of 4x4x0.9mm (QFN), while providing the
highest performance, lowest noise, and the lowest cost semiconductor packaging required for handheld
consumer electronic devices. The part features a robust 10,000g shock tolerance, and has
programmable low-pass filters for the gyroscopes, accelerometers, and the on-chip temperature sensor.
For power supply flexibility, the MPU-60X0 operates from VDD power supply voltage range of
2.375V-3.46V. Additionally, the MPU-6050 provides a VLOGIC reference pin (in addition to its
analog supply pin: VDD), which sets the logic levels of its I2C interface. The VLOGIC voltage may be
1.8V5% or VDD.
The MPU-6000 and MPU-6050 are identical, except that the MPU-6050 supports the I2C serial
interface only, and has a separate VLOGIC reference pin. The MPU-6000 supports both I2C and SPI
interfaces and has a single supply pin, VDD, which is both the devices logic reference supply and the
analog supply for the part.

Features
Gyroscope Features
The triple-axis MEMS gyroscope in the MPU-60X0 includes a wide range of features:

Digital-output X-, Y-, and Z-Axis angular rate sensors (gyroscopes) with a userprogrammable full-scale range of 250, 500, 1000, and 2000/sec
External sync signal connected to the FSYNC pin supports image, video and GPS
synchronization

Integrated 16-bit ADCs enable simultaneous sampling of gyros

Enhanced bias and sensitivity temperature stability reduces the need for user calibration

Improved low-frequency noise performance

25

Digitally-programmable low-pass filter

Gyroscope operating current: 3.6mA

Standby current: 5A

Factory calibrated sensitivity scale factor

User self-test

Accelerometer Features
The triple-axis MEMS accelerometer in MPU-60X0 includes a wide range of features:

Digital-output triple-axis accelerometer with a programmable full scale range of 2g, 4g,
8g and 16g

Integrated 16-bit ADCs enable simultaneous sampling of accelerometers while requiring no

external multiplexer
Accelerometer normal operating current: 500A

Low power accelerometer mode current: 10A at 1.25Hz, 20A at 5Hz, 60A at 20Hz,
110A at 40Hz
Orientation detection and signaling

Tap detection

User-programmable interrupts

High-G interrupt

User self-test

Additional Features
The MPU-60X0 includes the following additional features:

9-Axis MotionFusion by the on-chip Digital Motion Processor (DMP)

Auxiliary master I2C bus for reading data from external sensors (e.g., magnetometer)
3.9mA operating current when all 6 motion sensing axes and the DMP are enabled

VDD supply voltage range of 2.375V-3.46V

Flexible VLOGIC reference voltage supports multiple I2C interface voltages (MPU-6050
only)
Smallest and thinnest QFN package for portable devices: 4x4x0.9mm

Minimal cross-axis sensitivity between the accelerometer and gyroscope axes

1024 byte FIFO buffer reduces power consumption by allowing host processor to read the
data in bursts and then go into a low-power mode as the MPU collects more data
Digital-output temperature sensor

User-programmable digital filters for gyroscope, accelerometer, and temp sensor

10,000 g shock tolerant

400kHz Fast Mode I2C for communicating with all registers

1MHz SPI serial interface for communicating with all registers (MPU-6000 only)

26

3.3 Bidirectional level converter

Bi-directional level converter is a small device that safely steps down either 5volt signals to 3.3volt or
steps up 3.3volt to 5volt. This level converter also works with 2.8volt and 1.8volt devices. Each level
converter has the capability of converting 4 pins on the high side to 4 pins on the low side with two
inputs and two outputs provided for each side. One input on each side is positive voltage and the other
is ground.
The level converter is very easy to use. The board needs to be powered from the two voltages sources
(high voltage and low voltage) that your system is using. High voltage (5V for example) to the 'HV'
pin, low voltage (2.8V for example) to 'LV', and ground from the system to the 'GND' pin.
This revision of the Logic Level Converter fixes the issue with the board not stepping down from 5V to
3.3V correctly.

3.3.1 Circuit:

Figure 11 Bidirectional level converter

3.3.2 Features:
Minimum Voltage: 3.3V and Maximum Voltage: 5V
Bi-directional Logic Level conversion is possible.
BreadBoard friendly.

27

Bi-Directional MOSFET Voltage Level Converter 3.3V to 5V

When connecting 3.3V devices and 5V devices voltage level conversion is required. The following
circuit will allow this to be done bi-directionally:

Figure 12 I2C using MOSFET

Low Side Control

When the low side (3.3V) device transmits a '1' (3.3V), the MOSFET is tied high (off), and the high
side sees 5V through the R2 pull-up resistor. When the low side transmits a '0' (0V), the MOSFET
source pin is grounded and the MOSFET is switched on and the high side is pulled down to 0V.

High Side Control

When the high side transmits a '0' (0V) the MOSFET substrate diode conducts pulling the lowside
down to approx 0.7V, this is also low enough to turn the MOSFET on, further pulling the low side
down. When the high side transmits a '1' (5V) the MOSFET source pin is pulled up to 3.3V and the
MOSFET is OFF.
This works with I2C.

28

3.4 L293D
The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide
bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to
provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are
designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as
other high-current/high-voltage loads in positive-supply applications.
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington
transistor sink and a pseudo Darlington source. Drivers are enabled in pairs, with drivers 1 and 2
enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated
drivers are enabled, and their outputs are active and in phase with their inputs. When the enable input is
low, those drivers are disabled, and their outputs are off and in the high-impedance state. With the
proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid
or motor applications.

3.4.1 Block Diagram

Figure 13 L293D Block Diagram

29

3.4.2 Pin Diagram:

Figure 14 L293D Pin Diagram

Pin Description:

Table 2

30

3.4.3 Features:

Driver Case Style:DIP

Motor Type:Half-H

No. of Outputs:4

No. of Pins:16

Operating Temperature Max:70C

Operating Temperature Min:0C

Output Current:600mA

Output Voltage:36V

Supply Voltage Max:36V

Supply Voltage Min:4.5V

Supply Voltage Range:4.5V to 36V

3.4.4 Circuit Diagram

Figure 15 L293D Circuit Diagram

31

3.5 LM7805
A voltage regulator is a circuit that supplies a constant voltage regardless of changes in load current.
7805 is a voltage regulator integrated circuit. It is a member of 78xx series of fixed linear voltage
regulator ICs. The voltage source in a circuit may have fluctuations and would not give the fixed
voltage output. The voltage regulator IC maintains the output voltage at a constant value. The xx in
78xx indicates the fixed output voltage it is designed to provide. 7805 provides +5V regulated power
supply. Capacitors of suitable values can be connected at input and output pins depending upon the
respective voltage levels.

Figure 16 LM7805

3.5.1 Pin description:

Pin No
1
2
3

Function
Input voltage (5V-18V)
Ground (0V)
Regulated output; 5V (4.8V-5.2V)
Table 3

Name
Input
Ground
Output

3.5.2 Circuit:
Proper operation requires a common ground between input and output voltages. The difference
between input and output voltages is called dropout voltage. Acapacitorof 0.33F is required if the
regulator is located at an appreciable distance from the power supply filter. Even though capacitor of
0.1 F is not needed, it may be used to improve the transient response of the regulator.

Figure 17 LM7805 Connection Diagram

32

3.6 LM317
The LM317 is an adjustable 3terminal positive voltage regulator capable of supplying in excess of 1.5
A over an output voltage range of 1.2 V to 37 V. This voltage regulator is exceptionally easy to use and
requires only two external resistors to set the output voltage. Further, it employs internal current
limiting, thermal shutdown and safe area compensation, making it essentially blowout proof. The
LM317 serves a wide variety of applications including local, on card regulation. This device can also
be used to make a programmable output regulator, or by connecting a fixed resistor between the
adjustment and output, the LM317 can be used as a precision current regulator.

Figure 18 LM317

3.6.1 Features

Output Current in Excess of 1.5 A

Output Adjustable between 1.2 V and 37 V

Internal Thermal Overload Protection

Internal Short Circuit Current Limiting Constant with Temperature

Output Transistor SafeArea Compensation

Floating Operation for High Voltage Applications

Available in Surface Mount D2PAK3, and Standard 3Lead

Transistor Package

NCV Prefix for Automotive and Other Applications Requiring

Unique Site and Control Change Requirements; AECQ100
Qualified and PPAP Capable

Eliminates Stocking many Fixed Voltages

These are PbFree Devices

33

3.6.2 Circuit

Figure 19 LM317 Circuit Diagram

*
*_Cin is required if regulator is located an appreciable distance from power supply filter.
**_CO is not needed for stability, however, it does improve transient response.

Since IAdj is controlled to less than 100 A, the error associated with this term is
negligible in most applications.

34

CHAPTER 4
ASSEMBLING THE ROBOT

Block Diagram for balancing robot

Chassis

35

Tyres

Assembling the motors with chassis

36

Assembling the wheels

Circuit designing on PCB

37

Final Structure

38

CHAPTER 5
PROGRAMMING THE ROBOT

4.1 AVR STUDIO

AVR Studio is used by embedded programmers for programming and debugging for many of the
Atmel microprocessors such as the Atmega8 or even the Atmega128. While it has support for
assembly programming for those who prefer to use higher languages, it uses the coff format for
debugging. Beginning with version 4 AVR Studio has now moved to dwarf2, and ccan be more
readily used in conjunction with the open source gcc based compiler WinAVR.
All Atmel AVR microcontrollers require some software to be useful. To create and debug this
software, you can use an integrated development environment (IDE), such as Atmel Studio. This
IDE contains everything you need to create, compile and debug code, and it will let you download
your code straight into the on--chip Flash of the AVR microcontroller - without any other software
components.

STEPS TO PROGRAM
1.

Open AVR Studio

io and click New Project. Select AVR GCC for the project type. Enter the
project name and initial file name. In the screenshot below, we named our project
BlinkLED and elected to have a folder called C:\BlinkLED
C: BlinkLED created containing the blank
file BlinkLED.c. Click Next >>. DO NOT click Finish yet. If you do accidentally click
Finish, you will not be able to perform step 2 and will instead have to set the device by
going to the Project menu and selecting Configuration Options.

Figure 20 Creating new AVR Studio-4 project

39

2.

Select AVR Simulator as the debug platform and then select the appropriate device for your
target AVR. For an Orangutan or 3pi Robot, this will either be ATmega48, ATmega168,
ATmega328P, ATmega324PA,
24PA, ATmega644P, or ATmega1284P depending on which chip
your Orangutan or 3pi Robot has. Click Finish.

Figure 21 Creating new AVR Studio-4 Project

3.

Write your program in BlinkLED.c as seen in the screen shot below and click the B
Build button
on the toolbar (or press F7).
F7

Figure 22 Building a project with AVR Studio

40

4.

Make sure your USB AVR programmer is connected to your computer via its USB A to mini
miniB cable and then click the Display the Connect Dialog button on the toolbar. You can also
accomplish this by going to the Tools menu and selecting Program AVR > Connect
Connect.

Figure 23 Connecting to the programmer with AVR studio

5.

This will bring up a programmer selection dialog. Select

Sele AVRISP as the platform. The USB
AVR programmer uses AVR ISP version 2, which is written as AVRISPv2. Please note that
this is not the same as AVR ISP mkII. Select the port name of your programmer if you know
what it is, or select Auto and AVR Studio will try all the ports until it detects the programmer.
You can determine your programmers port name by looking in the Ports (COM & LPT) list
of your Device Manager for Pololu USB AVR Programmer Programming Port. Click
Connect to bring up the ISP w
window.

Figure 24 AVR Studio-4's

Studio
programmer selection dialog box

If the ISP window does not appear when you click Connect, your computer cannot detect
the programmer. Please see Troubleshooting for help identifying and fixing the
the problem.
If AVR Studio brings up a dialog asking if you want to upgrade (or downgrade) your
programmers firmware, click Cancel to ignore the message and use your programmer. To
prevent this dialog from appearing in the future, use the Configuration Utilitychange
Utilitychange the
programmers hardware and software version numbers.

41

6.

Select the Main tab. In the dropdown box that lists AVR models, select the same device that
you selected when you created the project. For an Orangutan or 3pi Robot, this will either
be ATmega48, ATmega168,
ATmega168 or ATmega328P.

Figure 25Selecting the device for ISP programming

7.

If you have not done so already, connect the programmer to the target device using the 6-pin
6
ISP cable. Make sure the cable is oriented so that pin 1 on the connector lines up with pin 1 on
your target device! You can test the connection by going to the Main tab and clicking
the Read Signature button. This sends a command to the target AVR asking for its device
signature. If everything works correctly,
correctly, you should see Signature matches selected device.
If the signature does not match the selected device, you probably have the wrong device
selected (or possibly your target device is turned off). If reading the signature fails entirely,
please see Troubleshooting for help getting your connection working.

Figure 26 Reading the device signature in AVR studio's main ISP tab

8.

Now it is time to program your target device. Select the Program tab. Your Input HEX
File in the Flash section needs to be the hex file that was generated when you built your
program. You can browse for this using the "..." button to the right of the input file text box.
If you navigate to your projects folder, you should find it as default\<project
<project name
name>.hex.
Click the Program button (make sure you click the one in the Flash section, not one in the
EEPROM or ELF Production File Format sections!).

42

Figure 27 AVR Studio's program ISP tab

43

CHAPTER 6
TESTING THE ROBOT

Prior to programming the robot with final program, several test programs were burned in the
microcontroller to verify various discrete segments of the hardware structure. The robot was tested to
verify the functioning of the following segments for proper operation:

Regulated 5V dc output from LM7805

Regulated 3.13V dc power output from LM317 regulator.

Level conversion from bidirectional level converter.

PID control unit

Motor assembly

Sensor Check

6.1. PID Control unit

Working of PID control unit was tested by varying the brightness of an LED connected at pin no.
16 of the microcontroller. Whenever the control knob of potentiometer is rotated, the brightness
of the LED varies from maximum to off state. This indicated the proper functioning of the PID
unit.

Code for PID Check:

int Led=10;
intanalog=A1;
intval=0;
void setup()
{
pinMode(Led, OUTPUT);
pinMode(analog, INPUT);

44

}
void loop()
{
val = analogRead(analog);
analogWrite ( Led, val/4);
}

6.2. Motor Speed Control

While balancing the robot on two wheels, it is necessary to adjust the speed of the motor in
accordance with instability of the system. If the system is highly unstable i.e. far away from its
balanced position, then the motor should work on higher speed.
But if the robot is slightly misaligned, then the speed of the motor should be slow. In case the
motor provides the same higher speed, robot may encounter a jerk in the opposite direction and
thus result in imbalance in the other direction.
The speed of the motor is controlled by using analog output from PID unit through
potentiometers. The PWM pins of microcontroller are connected to enable pins of motor driver(
pins 1 and 9).

Code for Speed Check:

int Led=10;
intanaloga=A1;
int Motor1a = 0;
int Motor1b = 1;
int Motor2a = 2;
int Motor2b = 3;
intMotorEnable=5;
int MotorEnable2=6;
intanalog=A2;
intval=0;
voidMotorSetup()
{
pinMode(Motor1a, OUTPUT);

45

pinMode(Motor1b, OUTPUT);
pinMode(Motor2a, OUTPUT);
pinMode(Motor2b, OUTPUT);
}
voidmForward()
{
digitalWrite(Motor1a, HIGH);
digitalWrite(Motor1b, LOW);
digitalWrite(Motor2a, HIGH);
digitalWrite(Motor2b, LOW);
}
void setup()
{
pinMode(Led, OUTPUT);
pinMode(analoga, INPUT);
pinMode(MotorEnable, OUTPUT);
pinMode(analog, INPUT);
pinMode(MotorEnable2, OUTPUT);
digitalWrite(MotorEnable2, LOW);
MotorSetup();
mForward();
}
void loop()
{
val = analogRead(analoga);
analogWrite ( Led, val/4);
// val = analogRead(analog);
analogWrite ( MotorEnable, val/4);
}

46

6.3. Sensor Check

Output from MPU6050 was observed. Movement of the robot in three axis resulted in change of
current coordinates which indicated that the sensor was properly connected and performing the
desired operation.

Sensor check code:

// I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
// for both classes must be in the include path of your project
#include "I2Cdev.h"
#include "MPU6050.h"
// Arduino Wire library is required if I2Cdev I2CDEV_ARDUINO_WIRE implementation
// is used in I2Cdev.h
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
#include "Wire.h"
#endif
// class default I2C address is 0x68
// specific I2C addresses may be passed as a parameter here
// AD0 low = 0x68 (default for InvenSense evaluation board)
// AD0 high = 0x69
MPU6050 accelgyro;
//MPU6050 accelgyro(0x69); // <-- use for AD0 high
int16_tax, ay, az;
int16_tgx, gy, gz;
// uncomment "OUTPUT_READABLE_ACCELGYRO" if you want to see a tab-separated
// list of the accel X/Y/Z and then gyro X/Y/Z values in decimal. Easy to read,
// not so easy to parse, and slow(er) over UART.
#define OUTPUT_READABLE_ACCELGYRO
// uncomment "OUTPUT_BINARY_ACCELGYRO" to send all 6 axes of data as 16-bit
// binary, one right after the other. This is very fast (as fast as possible
// without compression or data loss), and easy to parse, but impossible to read

47

// for a human.
//#define OUTPUT_BINARY_ACCELGYRO
#define LED_PIN 13
boolblinkState = false;
void setup()
{
// join I2C bus (I2Cdev library doesn't do this automatically)
#if I2CDEV_IMPLEMENTATION == I2CDEV_ARDUINO_WIRE
Wire.begin();
#elif I2CDEV_IMPLEMENTATION == I2CDEV_BUILTIN_FASTWIRE
Fastwire::setup(400, true);
#endif
// initialize serial communication
// (38400 chosen because it works as well at 8MHz as it does at 16MHz, but
// it's really up to you depending on your project)
Serial.begin(38400);
// initialize device
Serial.println("Initializing I2C devices...");
accelgyro.initialize();
// verify connection
Serial.println("Testing device connections...");
Serial.println(accelgyro.testConnection() ? "MPU6050 connection successful" : "MPU6050
connection failed");
// use the code below to change accel/gyro offset values
/*
Serial.println("Updating internal sensor offsets...");
// -76

-2359

1688

Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76

Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688

48

Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
accelgyro.setXGyroOffset(220);
accelgyro.setYGyroOffset(76);
accelgyro.setZGyroOffset(-85);
Serial.print(accelgyro.getXAccelOffset()); Serial.print("\t"); // -76
Serial.print(accelgyro.getYAccelOffset()); Serial.print("\t"); // -2359
Serial.print(accelgyro.getZAccelOffset()); Serial.print("\t"); // 1688
Serial.print(accelgyro.getXGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getYGyroOffset()); Serial.print("\t"); // 0
Serial.print(accelgyro.getZGyroOffset()); Serial.print("\t"); // 0
Serial.print("\n");
*/
// configure Arduino LED for
pinMode(LED_PIN, OUTPUT);
}
void loop()
{
// read raw accel/gyro measurements from device
accelgyro.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
// these methods (and a few others) are also available
//accelgyro.getAcceleration(&ax, &ay, &az);
//accelgyro.getRotation(&gx, &gy, &gz);
#ifdef OUTPUT_READABLE_ACCELGYRO
// display tab-separated accel/gyro x/y/z values
Serial.print("a/g:\t");
Serial.print(ax); Serial.print("\t");
Serial.print(ay); Serial.print("\t");

49

Serial.print(az); Serial.print("\t");
Serial.print(gx); Serial.print("\t");
Serial.print(gy); Serial.print("\t");
Serial.println(gz);
#endif
#ifdef OUTPUT_BINARY_ACCELGYRO
Serial.write((uint8_t)(ax>> 8)); Serial.write((uint8_t)(ax& 0xFF));
Serial.write((uint8_t)(ay >> 8)); Serial.write((uint8_t)(ay & 0xFF));
Serial.write((uint8_t)(az>> 8)); Serial.write((uint8_t)(az& 0xFF));
Serial.write((uint8_t)(gx>> 8)); Serial.write((uint8_t)(gx& 0xFF));
Serial.write((uint8_t)(gy>> 8)); Serial.write((uint8_t)(gy& 0xFF));
Serial.write((uint8_t)(gz>> 8)); Serial.write((uint8_t)(gz& 0xFF));
#endif
// blink LED to indicate activity
blinkState = !blinkState;
digitalWrite(LED_PIN, blinkState);
}

50

Output Graphs:

51

BIBLIOGRAPHY

http://www.instructables.com/id/2-Wheel-Self-Balancing-Robot-by-usingArduino-and-/
http://en.wikipedia.org/wiki/Kalman_filter
http://forum.arduino.cc/index.php?topic=58048.0
http://www.instructables.com/id/PCB-Quadrotor-Brushless/step15/IMU-Part2-Complementary-Filter/
http://en.wikipedia.org/wiki/PID_controller
http://www.atmel.in/devices/ATMEGA328P.aspx
http://www.invensense.com/mems/gyro/mpu6050.html
http://playground.arduino.cc/Main/I2CBi-directionalLevelShifter
http://www.ti.com/lit/ds/symlink/l293d.pdf
http://www.ti.com/lit/ds/symlink/lm317.pdf
http://www.engineersgarage.com/tutorials/avr-studio4-working
http://stackoverflow.com/tags/avr-studio4/info
http://playground.arduino.cc/Main/I2CBi-directionalLevelShifter
http://www.atmel.in/tools/atmelstudio.aspx

52