HoverBot, self-balancing vehicle with hoverboard wheels

#1

A radio controlled two-wheeled self balancing vehicle. The build is very simple. It uses two current-controlled hoverboard motors with hall sensors and the ODrive as explained here and the auxiliary capacitors as explained here.
It runs off a 6S Lipo battery with 22.2V nominally. Equipped with a BNO055 IMU and controlled at 100Hz from an Arduino that gets its commands from an RC receiver via PWM.

The plan ist to turn this into something useful eventually - any ideas are highly welcome :slight_smile:

Code: https://github.com/LuSeKa/HoverBot
Video: https://www.youtube.com/watch?v=jp_vRK7mbwY

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#2

I am working on a similar project !
I am using an arduino to do the low level control of the inverted pendulum.
I am planning to buy the Nvidia Jetson Nano to do the high level stuff like person following usong my intel D435

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#3

Is it possible that your share the Odrive configuration, since you don’t use speed control ( I assume by readinbg your code you are using direct current torque control) ?
Thanks ^^ !

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#4

Wow this is what I am looking for … could you please explain the full details with schematic diagram and coding thanks a lot .

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