BalBot Advanced is an autonomous, active-balancing robot that is fully customizable. It includes all the hardware and sample code necessary to autonomously drive around and avoid basic obstacles. The robot will balance on its own, respond to forces from the environment (if you push it, it will react to keep from falling) and know how to drive around while keeping its balance.
The BalBot balances by using the infrared range sensors aimed at the ground to calculate the absolute angle and the angular velocity of the robot. The Balance Processor Chip (BPC) uses this data to drive the two motors in a manner that will keep the center of gravity above the wheels at all times.
The main board executes the standard Digital Cascaded Control Loop (built into Balance Processor Chip) algorithm to balance the robot. Its parameters can be modified by using an add-on microcontroller (the BrainBoard) or it also can be by-passed altogether to allow user's completely custom control loop.
The Atmel ATMEGA32 - microcontroller board (called BrainBoard) can be programmed to customize your robot: to tell it what to do and to run your own custom code. With 17 expansion port connectors, the BrainBoard is designed to allow easy, "Plug and play" addition of more sensors and electronics. These additions can be a combination of Analog, digital, and I2C devices (like Infrared, light detection or GPS). The included sample C-code will drive the robot around and avoid obstacles. You can modify this sample code to give the bot its own character and capabilities.
The Expandable Frame System (EFS), made primarily of aircraft aluminum, allows unlimited form factor changes, sensor additions, board additions with only a screw driver. The robot comes equiped with 2 Powerful DC Brushed Gearmotors, 2 Current-limiting motor controllers; 2 Forward-looking infrared sensors, 2 Infrared ground sensors and Back-EMF sensors (to detect wheel velocity).
Operation
The robot can operate in 7 modes: normal balancing (free moving): default and custom, sleep: default and custom, nap (shut down until bumped):default and custom and custom control algorithm (control algorithm is bypassed).
Assembly
You will need phillips screwdriver and a wrench (Included) to assemblethis robot. Programming skills are required to develop your own robot behaviors, or to add on accessories. Basic assembly skills are required. Soldering is not required.
Programming
The kit includes everything you need to write your own custom C code and program the robot with it. Programming skills are required to develop your own robot behaviors or to add on accessories. The expensive, time consuming task of putting together a development environment - a compiler, IDE and device programmer - is already done for you. The BrainBoard already "knows" how to talk to the BalBot's Balance Processor Chip (BPC). The sample code includes other functionality you will appreciate - sample code to display information on the LCD screen, talk to your PC through the serial port, read the navigation buttons, and read Sharp distance sensors.
