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Thread: First Teensy3 on two wheels?

  1. #1
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    First Teensy3 on two wheels?

    I just had the first ride on my Teensy 3 based homemade self balancing vehicle. Still some adjustments but I'm getting there




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    Last edited by johgum; 05-03-2013 at 04:51 PM.

  2. #2
    Senior Member sumotoy's Avatar
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    Wow! Always dreamed to have one like this! Unfortunatly I'm too heavy...

  3. #3
    That is so cool! Does it work exactly like a Segway?

  4. #4
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    Well, I have never tried a real Segway but the pricipal is the same I guess. I have two gyro sensors, two accelerometers and one magnometer. Values are read 500 times per second and calculated 100 times per second in order to power the motors forward or backward.

  5. #5
    Senior Member PaulStoffregen's Avatar
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    Wow, awesome build.

  6. #6
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    I will post a video and a summary of the parts I have used as soon as I get the time

  7. #7
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    Added a small video clip

  8. #8
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    Now this would be an awesome winter project to tackle

    Well done!

  9. #9
    Where did you get the wheeled platform? It seems ready made to turn into a Segway-type vehicle.

  10. #10
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    The entire platform is self-built of chipboard and aluminium profiles.
    The steering is made of an aluminium pipe with a bicycle handlebar

    The electronics are
    24V10Ah 8S1P Headway battery pack
    2 x 500W geared motors with wheels
    2 x 25A Sabertooth motor driver
    4 Force Sensitive Resistors (For sensing if someone is riding)
    1 potentiometer (For steering)
    1 JY-MCU 3208 matrix display with atmega8l (For showing info)
    1 Self designed PCB
    1 Teensy 3.0
    1 10 DOF (MPU6050 based)
    1 6 DOF (MPU6050 based)
    1 Bluetooth module (For communicating with PC)
    1 Piezo element
    1 EEprom 24LC256

  11. #11
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    Awsome project!

  12. #12
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    Wow, that video really shows how well it works!

  13. #13
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    You did a good job.

    I don't understand why you use one 10 DOM and one 6 DOM.
    I send you a mail if it is possible to get the source code. I would like to build one for me.
    I will use the arduino board as microcontroller. Could you help me to get starting?

    Thanks.

  14. #14
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    Hi again.

    During the winter I will share all my experience of building my homemade Segway, including drawings, comments and woking code examples. Stay tuned to http://teksab.wordpress.com/ if you are interested.

  15. #15
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    Awesome! Really looking forward to it!

  16. #16
    Senior Member Frank B's Avatar
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    http://www.youtube.com/watch?v=n-noFwc23y0

    This is my little balancing robot, with Arduino-nano. It is i2c-connected to a raspberry. But your segway is way better !

  17. #17
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  18. #18
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    Cool !! Thank you so much for your documentation !

  19. #19
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    Hey johgum, just wanted to say really like your build, and looking forward to parts 2 & 3 of your blog installment! Think it's the first time I've seen hub motors used.

    Few years ago I made a balancing robot using a pic32. Have since moved to the teensy and mpu IMU's, currently working on a tricopter project. And on a tangent, I'm also in the Oslo area, would be interested to know which shop you used? As an american, been collecting tools over the years, but would be great to have a shop available...

    God helg!
    Daniel

  20. #20
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    Segue

    Quote Originally Posted by johgum View Post
    The entire platform is self-built of chipboard and aluminium profiles.
    The steering is made of an aluminium pipe with a bicycle handlebar

    The electronics are
    24V10Ah 8S1P Headway battery pack
    2 x 500W geared motors with wheels
    2 x 25A Sabertooth motor driver
    4 Force Sensitive Resistors (For sensing if someone is riding)
    1 potentiometer (For steering)
    1 JY-MCU 3208 matrix display with atmega8l (For showing info)
    1 Self designed PCB
    1 Teensy 3.0
    1 10 DOF (MPU6050 based)
    1 6 DOF (MPU6050 based)
    1 Bluetooth module (For communicating with PC)
    1 Piezo element
    1 EEprom 24LC256

    This looks like a very interesting project. Could you tell us how much all the parts cost to build it? any updates. is it useable as a segue replacement?
    any more details where to order all the parts? and do you have a link to the code?

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