Self balancing robot - crashing

Using Arduino Project Guidance
#1

I am trying to construct a self-balancing robot and I have attached the specifications below.
The problem is that when I try to tune the PID constants for the robot, I jitters and then the program crashes, making the wheel move in one direction. The only way to stop the robot is to reset.

I have tried using a 9V duracell battery and a HIW battery, but both give the same results. I think that it is a problem with the current rating of the motor and the battery, but not so sure. Is there an alternative? Thanks in advance!

P.S the circuit diagram I’ve attached shows 2 AA batteries which are not the case - it is a single 9V battery

Components used:

motors: https://robu.in/product/300-rpm-l-shape-bo-motor/

Arduino Uno
MPU6050
LM298N

Last attachment shows the output of the serial monitor as the code crashes

final_code.ino (6.61 KB)

Circuit-Diagram-for-DIY-Self-Balancing-Robot-using-Arduino.png
Circuit-Diagram-for-DIY-Self-Balancing-Robot-using-Arduino.png1280×1412 63.3 KB

IMG_20200319_145858154.jpg
IMG_20200319_145858154.jpg1830×1440 494 KB

serial moitor.txt (1 KB)

#2

IMG_20200319_145858154.jpg

Circuit-Diagram-for-DIY-Self-Balancing-Robot-using-Arduino.png

anusha4599:
I have tried using a 9V duracell battery

A what? A smoke alarm battery? To power a motor? Surely you jest? :astonished:

anusha4599:
and a HIW battery

What on earth is that? :roll_eyes:

Oh, wait - I see - it's even worse! :roll_eyes: I don't know what that battery is useful for, not smoke alarms!

anusha4599:
I think that it is a problem with the current rating of the motor and the battery, but not so sure.

We are pretty sure. :grinning:

The minimal robot battery is the same as a model car - a pack of six alkaline "AA" cells. Lithiums (rechargeable) are an option; you would need a matching charger.

Please read the instructions for posting to find out how to cite your code. Item 7.

#3

Thanks Paul! I'll buy an adapter for the same and check if the problem persists.

#4