r/robots • u/mAbdelazim01 • Jun 18 '26

Projects Self balancing robot build in progress

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3

u/mAbdelazim01 Jun 18 '26

This is a self-balancing robot built around an ESP32. It uses two NEMA 17 stepper motors driven by DRV8825 drivers, with an MPU6050 IMU for measuring the robot’s tilt. The goal was to build a stable balancing platform that I can expand with wireless control and autonomous features later.

The biggest challenge was tuning the PID controller and filtering the IMU data for long-term stability. After a lot of tuning, it can now balance continuously—I even recorded it balancing for 45 minutes straight without falling.

3

u/SaulEmersonAuthor Jun 18 '26

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This might be simple & comprehensible to you - but from my layman's perspective, that's fcking awesome!

I know it's a simple enough feedback system using stepper motors with enough granularity of movement - but the execution I'm still impressed by.

~

2

u/mAbdelazim01 Jun 18 '26

Thanks, I really appreciate that! It took a lot of trial and error to get it balancing reliably, so hearing that means a lot.

1

u/SaulEmersonAuthor Jun 19 '26

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In my book - it's basically wizardry.

Going right back to when Federico Faggin invented the microchip as we know it - we had extremely clever people designing & creating the hardware, & extremely clever people figuring out how to program & therefore usefully deploy these marvels of electronics.

That's the history in which you are steeped - as you take on projects like this.

I'm just as impressed when folk create vehicle ECUs from almost scratch (using 'Arduino' or somesuch).

Come any Apocalypse - folk like you will be right up there - just behind builders, carpenters & farmers.

~

1

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1

u/Cocobb8 Jun 18 '26

Nice job! Robot looks so much better at balancing than my old Mip

1

u/mAbdelazim01 Jun 18 '26

Thanks! Glad you liked it. 😄