Self balancing Arduino robot

Projects General Guidance
1

Could someone please help me?

I am trying to make a self balancing robot with two wheels.
Components:
Arduino nano (I can also use an Arduino uno)
MPU6050
HC-05
2 A4988 driver
2 Stepper motor (NEMA 17)
(I am using the EZ-GUI app)
and here is the code I am using
GitHub - mahowik/BalancingWii: Self balancing robot (Segway) based on modified/extended MultiWii 2.3 firmware.

Schematics:

self-balancing-robot-circuit-drawing-1024x759_X2TbR69bRm
self-balancing-robot-circuit-drawing-1024x759_X2TbR69bRm1024×759 77.6 KB

I am making a self balancing Robot for a school project. I have connected everything like it shows on the diagram. The robot could connect to my phone and send data, but it doesn't move. All the parts work. In other tutorials they said to use a capacitor (100uF/ 25V) before connecting the A4988 driver to VM OT and GND so I also did that. I can use 3x 1.2V Battery/ 9V Battery/ 12V Battery. If it helps I am also using a 1KOHM resistor like it says on the diagram.

Thanks already for all the help.

2

Projects like this have been made in quantities.
Those words are often used but they contain no information at all.
Read this link and follow it: How to get the best out of this forum - Using Arduino / Project Guidance - Arduino Forum

Post the code here as well as schematics.

3

thanks. I explained it better

4

I don't see any changes that reflect the reply in #2.

5

is it better now?

6

11.7 Volts connected to Vin on the Arduino??? Bye bye, nano.

I was a bit fast. Seems the nano can be powered up to 12 V on Vin. Good to know :slight_smile:

7

I wouldn't power feed the HC-5 from the controller 5 volt. That converter might not output enough current for a HC-05.
I suppose You don't want any helper to look at the code....

8

I don't think anything is wrong with the code but let me fast post it.just one problem its very big and has many tabs