Dev Log #3 – Hardware Complete!

Today is a big milestone for the self-balancing robot. I officially finished designing all of the 3D models and printed the final parts.(NOT AT ALL) The robot’s main structure is now complete, and all of the electronics have a place to be mounted.

While assembling everything, I discovered a design mistake, I forgot to include mounting locations for the buck converter and the MPU-6050 IMU. Since the IMU is one of the most important sensors for a balancing robot, I couldn’t leave it out. I went back into CAD, redesigned the electronics holder, and reprinted the updated version with proper mounting points for both components.

On the software side, I spent more time learning about PID (Proportional-Integral-Derivative) control. After researching how each value affects the robot’s behavior, I now have a solid understanding of how PID works and how I’ll tune it once the robot is assembled. This should make the balancing process much easier when I begin testing.

I’m also starting work on a complete wiring diagram to make assembly cleaner and reduce wiring mistakes before powering everything on for the first time.