Parts

Serial Interface Protocols: I2C, UART

Peripherals: IMU (Gyroscope and Accelerometer embedded in MPU-6050), Metal DC Geared-Down Motor, Dual Channel DC Motor Driver

MPU-6050: This module contains a 3-axis accelerometer and 3-axis gyroscope inside of it. This will allow us to measure the acceleration, velocity, orientation, and displacement of our robot. We will communicate with the MPU-6050 using I2C.

Part Number: GY-521

Metal DC Geared-Down Motor: We will have two motors, one on each side of the robot, to be used for full circle mechanical stabilization. These motors have built in rotary encoder which will help us make the robot maintain its balanced position by calculating the distance the robot has traveled.

Part Number: CQR37D

Dual Channel DC Motor Driver: Allows us to control the speed, direction, and activation of our DC brushed motors. This is a dual channel DC motor driver, so we are able to drive 2 brushed DC motors at the same time with this board.

Part Number: MDD10A

BaneBots Compliant Wheel: We used two wheels compatible with 6 mm-diameter D-shaped output shafts. We also bought accompanying hubs, made for the wheels, which are fitted to our motor's shaft size.

Part Number: T81P-403BG (Wheel)

Part Number: T81H-RM61 (Hub)

STM32 Nucleo-64 Development Board: This is the development board we used that allowed us to easily program the STM32 microcontroller using C code in Keil uVision.

Part Number: STM32L476RG

5000 mAh LiPo Battery: We are going to use a 11.1 V LiPo battery to power our entire system. This choice is preferable due to it being both small and lighter than traditional batteries. We also calculated at it's battery capacity, it should be able to sustain power for our system at it's maximum current rating for at least 5 hours.

Part Number: 9067000535-0