MicroSegbot Fall 15′ Final Document

Written By: Josh Tristan (Project Manager), Ricardo Gordillo (Manufacturing), Ruben Petersen (Mission, Systems, and Test), and Yoseph Yegezu (Electronics and Control) Approved By: Josh Tristan Final Document Josh Tristan-Project Manager Ricardo Gordillo-Manufacturing Ruben Petersen-Mission, Systems, and Test Yoseph Yegezu-Electronics and Control Introduction The MicroSegBot is designed to be a self-balancing two-wheeled robot. It is designed […]

Mass Budget

Written By: Ricardo Gordillo (Manufacturing) & Yoseph Yegezu (Electronics) The final mass for our project fell right in the estimated weight approximated at the beginning of the semester. While it was heavier than the team hoped for it still fell in the range where our motors would be able to move the MicroSegbot. The 3D […]

Software Description

Written By: Ruben Petersen (Mission, System, and Control) Software Description When the code first started coming together, I believed that the code to operate the motors and the code to balance the MicroSegbot were going to be two different codes. As I put together the software block diagram, I soon realized that the same portion […]

PCB Design

Written By: Yoseph Yegezu (Electronics and Control) MicroSegbot Fall 15′ Figure 1 PCB Design: For our PCB design we decided to put the microcontroller, voltage regulator, accelerometer/gyro, and motor driver on the board. We initially had the microcontroller in a different compartment of the Segway, and when we realized too many wires will be required […]

Motor Controller Test

Written By: Ruben Petersen (Mission, System, and Test) The first goal once the DRV8835 motor controller arrived was to get it connected to the motors and subsequently communicate with it via bluetooth with the Arxterra application. This required a full understanding of the motor controller schematic and of the Arxrobot firmware that would be allowing […]

Hardware Design

Written By: Ricardo Gordillo (Manufacturing) MicroSegbot Fall 15′ One of the biggest desires the president of the Robot Company wanted to see in the MicroSegbot project was that the final design resemble as closely as possible a real life Segway. Past semesters had created their own design, but none of them had actually attempted to […]

Verification and Validation

Written By: Josh Tristan (Project Manager) MicroSegbot Fall 15′   Verification and Validation Status: Complete Requirement 1.1:   The total cost of the MicroSegbot project will not exceed [$250]. This budget was set by the customer. Verification:   Per request of the customer, the reimbursement form had a total cost of $219.38 which was sent […]

Design Solutions for MicroSegbot

Written By: Ricardo Gordillo (Manufacturing) MicroSegbot Fall 15′ The Fall 15’ MicroSegbot team had a handful ideas from the gecko on how to implement a segway robot,but one of the main goals in building this robot was that it resemble a segway as closely as possible. Past segways we had encountered were incredible and looked […]

PID Control

Written By: Yoseph Yegezu (Electronics) PID Control The PID theory is used to control the balance of the MicroSegbot. After determining the set point or balance point of the system, the PID is implemented to secure the system in place. The P is the amount of power you want the system to have. The I […]

Interface Design Matrix

Written By: Ruben Petersen (Mission, System, and Test) MicroSegbot Fall 15′ Figure 1 The interface design matrix shown below in Figure 1 illustrates all of the connections that are made between the different components of the MicroSegbot. Using the schematic for the SparkFun Pro Micro, the team had to figure out which pins exactly could […]