Chip-E-Balance

https://youtu.be/xnNJ8LDQF4Y

This CHIP-E can balance on two wheels, just like a segway or hoverboard.

This is the Chip-E robot with a modified bottom plate to accommodate 2 micro-metal gear motors with their brackets.
The new bottom plate was designed with Autodesk Fusion 360.

To build this robot I printed the original Chip-E parts (except for the bottom plate).
Besides the basic Chip-E kit, I used:
- A pair of Pololu's micro-metal gear motors (150:1), with their respective brackets for mounting
- A pair of 70x8mm wheels for the motors.
- One MPU6050 IMU sensor (mounted on Head)
- One TB6612FNG motor driver.

Connections from Arduino to MPU6050:
GND GND
5V VCC
PIN A4 SDA
PIN A5 SCL
PIN 2 INT

Connections from Arduino to TB6612FNG
5V VCC
5V STBY
PIN 6 AIN1
PIN 7 AIN2
PIN 10 PWMA
PIN 8 BIN1
PIN 9 BIN2
PIN 11 PWMB

Download code here: http://femb.com.mx/files/CHIP_E_BALANCE.rar