Programming and Customizing the Multicore Propeller Microcontroller: The Official Guide

6DANCEBOT, A BALANCING ROBOT

Hanno Sander

Introduction

The Propeller’s multicog architecture allows you to tackle complex projects one step at a time. A project that’s keeping me busy is my balancing robot that uses vision to interact with people. In the next two chapters, I’ll describe how I built my robotic dance partner. In this first chapter, I’ll cover the basics of building a balancing robot:

The parts: Sensors, motors, and more

The code: Which way is up?

Achieving balance: How to avoid falling over

Steering a balanced robot

Resources: ...