Auto-Balancing-Platform-Project

This is the source files of an auto-balancing platform for my Final Year Project. Eventually, this project ended up in the negative result because of the limitation of L298N motor drivers and linear actuators. For some reasons, I used 4 linear actuators to make rotational motions in Roll and Pitch angles of the platform, but it would be better to use servo motors.

• Coordinate System of My Case

• Block Diagram

Position Extraction

The position coordinates (x, y) were successfully extracted from the frames. Source code is in FYP directory and OpenCV for C++ should be installed externally.

Serial Communication

This VS project includes the source files for serial communication, but only sendCommand in SerialComm.cpp works. readCommand can receive a character from Arduino using Serial.print(char) in ino file, but not string.

Equipment

• 2 L298N motor drivers
• Arduino Mega 2560
• Logitech C920 Pro
• 4 LA-T8 Type G Linear Actuators (http://www.gomotorworld.com/pd?product_id=64)
• 3D Printed Components in STL
• 12V Battery