The code is released under the GNU General Public License.

This is the code for the Balanduino, the Open Source Balancing robot.

To use the Balanduino as a normal Arduino board you need to add the hardware add-on to the Arduino IDE.

See the Hardware Readme for more information.

The Balanduino hardware consist of an ATmega1284P running at 10MHz.

A MPU-6050 3-axis accelerometer and gyroscope. The accelerometer and gyroscope readings are combined using a Kalman filter library. See my blog post: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it/ and source https://github.com/TKJElectronics/KalmanFilter for more information.

USB Host support is implemented using the MAX3421E and the USB Host library: https://github.com/felis/USB_Host_Shield_2.0.

Two VNH5180 motor controller ICs is used to drive the two motors.

More information can be found at the Wiki article: http://wiki.balanduino.net/Overview.

To control the robot you can use the following game controllers:

• Normal PS3 Dualshock controller
• PS3 Navigation controller
• PS3 Move controller
• PS4 controller
• Xbox 360 wireless controller
• Wiimote including support for the Motion Plus and Nunchuck extension
• Wii U Pro controller

It it also possible to control the robot and adjust the PID values and others variables using the following Android application:

Source: https://github.com/TKJElectronics/BalanduinoAndroidApp

You can also use your Windows, Mac or Linux based computer by using the following Processing application: https://github.com/TKJElectronics/BalanduinoProcessingApp.

A dedicated Windows application is also available: https://github.com/TKJElectronics/BalanduinoWindowsApp.

A video for the Kickstarter presentation can be seen below:

A video filmed with a GoPro mounted on the robot can be seen below:

To download the entire repository including all submodules run the following command in a terminal:

curl https://raw.github.com/TKJElectronics/Balanduino/master/download.sh | sh

Or simply download the daily updated ZIP-repository from our website: http://downloads.balanduino.net/github/Balanduino_latest.zip.

If you want to clone the project then use the recursive command to clone all the submodules as well:

git clone --recursive https://github.com/TKJElectronics/Balanduino.git

For more information send us an email at [email protected].