Controlling and moving a balancing robot
The purpose of this thesis is to describe specifically how to control two DC motors in a balancing robot using a Graphical User Interface (GUI) system on Personal Computer (PC). The desired result is commonly like the standard motor movements, such as: moving forward, moving reverse, moving to the left, and moving to rigHTM while maintaining the balance. The output of the motors, which are sensed by opto-isolator sensor, will be analyzed using incremental encoding method, in order to know whether the movements of motors are fit with the desired result or not. For motor control, microcontroller ATmega8535 is used and program is written in BASCOM-AVR language. In addition, visual basic is used to build the GUI system for a more convenient matter in controlling; and as the interfacing system from microcontroller to PC, a serial port is used.
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