Stewart

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  More Taran.

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  Better photo of stewart.

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  The humble beginning of our project. Drawings and figuring out how to build it.

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  Taran goofing about.

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  Stewart in all his glory.

Inspiration

Our inspiration came from robots that we've seen like the ones made by Boston Dynamic (Ascento specifically).

What it does

Balances itself using a PID controller on an ESP32, using a motor controller and 2 wheels.

How we built it

We used lots of hardware and made the robot base out of cardboard, tape and whatever else we could find during our time.

Challenges we ran into

Tuning the PID, wiring everything, creating the base out of whatever we had and finding appropriate libraries to use for the programming portion of our project.

Accomplishments that we're proud of

We built it completely and it can decently balance itself.

What we learned

We learned how to use and make a PID controller, how frail cardboard is, and how I2C works with our accelerometer.

What's next for Stewart

Adding directional control via a joystick using radio transmission.

Built With

• arduino
• c++