ArduRoller Balance Bot

ArduRoller is a BalanceBot frame originally designed by Jason Short (described in this Makezine article). Rover-3.5 (and higher) supports this frame as described below.

One issue with this frame is that there is some play in the motors which leads to a slightly wobble when standing still. This could be resolved by using stepper motors

Connection and Setup

  • Setup the Roboclaw motor driver:
    • Download and install the ION Studio configuration software
    • Connect the Roboclaw motor driver to your PC with a USB cable
    • Connect with ION Studio then on the General Settings page, set Control Mode = RC
    • From the File menu, “Save Setting”
../_images/reference-frame-arduroller-roboclaw-setup.png
  • Connect the yellow and white wires from the wheel encoders to the AUX OUT 3,4,5,6 pins as described on the wheel encoder wiki page
  • Connect the flight controller, motor driver and motors as shown below
../_images/reference-frame-arduroller-pixhawk-roboclaw.png

Firmware used: Rover-3.5

Parameter file: ArduRoller BalanceBot

This parameter file can also be loaded using the Mission Planner’s Config/Tuning >> Full Parameter Tree page by selecting “ArduRoller-balancebot” from the drop down on the middle right and then push the “Load Presaved” button.