Bulding first balancing robot.

[Black_Stork]

I’m posting here because I need guidelines from more experienced hobbyists and perhaps professionals.

My goal is to build balancing robot and learn a bit about PID controllers.

-First point would be to build balancing robot with already available libraries, without remote control. So basicaly just standing frame.

-Second, adding remote control over robot to make it go forward, back, and turn right-left.

-Third, implementing Kalman filter from scratch, implementing PID from scratch

Third point might be to hard for me, but if I accomplish first two I will at least have working robot.

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PARTS:

• Teensy 3.2

• Pololu DRV8835 Dual Motor Driver Carrier (H-bridge) – > https://www.pololu.com/product/2135

• Bluetooth Module HC-05v2 *2 → https://botland.com.pl/moduly-bluetooth … esults=279

• SparkFun 9DoF Sensor Stick LSM9DS1 → https://www.sparkfun.com/products/13944

• 100:1 Micro Metal Gearmotor LP 6V → https://www.pololu.com/product/992

• Plastic wheels with rubber ring → https://www.pololu.com/product/1420

• 4 tapped rods

• 2 plexi plates

• 2 AA(R6) baterries basket → for powering teensy, 3V

• 4 AA(R6) baterries basket → for DC Motors, 6V, you can also use 9V battery

• Arduino UNO R3(for powering master HC 05)

PHOTOS:

I already have assembled frame. Here are photos:

https://drive.google.com/file/d/0B0iA-I … sp=sharing

https://drive.google.com/file/d/0B0iA-I … sp=sharing

https://drive.google.com/file/d/0B0iA-I … sp=sharing

https://drive.google.com/file/d/0B0iA-I … sp=sharing

https://drive.google.com/file/d/0B0iA-I … sp=sharing

https://drive.google.com/file/d/0B0iA-I … sp=sharing

And wiring (without pololu bridge unfortunately, so look at product page to see pinout):

https://drive.google.com/file/d/0B0iA-I … sp=sharing

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1. How to calibrate gyroscope? How to interpret data from it? → suggested library from sparkfun https://github.com/sparkfun/SparkFun_LS … no_Library

2. What PID library will be the best for the task?