Arduino FOC Balancer

Abstract

1. Introduction

Modular Arduino two wheel balancing robot based on gimbal BLDC motors and SimpleFOClibrary.

Balancing robots are always a bit tricky to design, in order to make the robot balance we need to design and tune our mechanical structure and the control algorithm and, in the same time, choose optimal motors, sensors and microcontrollers. Therefore, even though BLDC motors are a great choice for balancing robots the complexity of their control made them undesirable. So this robot is an attempt to create a simple and modular, BLDC motor based, balancing robot that can be easily adapted for different motor+sensor+mcu+driver combinations and to show off the power and the awesome dynamics of gimbal BLDC motors

2. Objective

Modular Arduino two wheel balancing robot based on gimbal BLDC motors and simplefoc library

This project demonstrates how C++, Arduino, ESP32 can be applied to a real-world Internet of Things (IoT) problem.

4. Technology Stack

5. System Requirements

General requirements for this technology stack — check the README for exact versions.

• Arduino IDE / PlatformIO or a C++ compiler (g++)
• Target board (e.g. Arduino, ESP32) where applicable
• Git (to clone the repository)

6. Installation & Setup

git clone https://github.com/simplefoc/Arduino-FOC-balancer.git
cd Arduino-FOC-balancer

Full setup instructions are in the project README.

7. Future Enhancements

Suggested extensions you can add to make this your own project.

• Add a mobile dashboard using Blynk or Firebase
• Store readings in a cloud database for history charts
• Add alerts via SMS / Telegram when thresholds are crossed

8. Viva / Review Questions

Common questions examiners ask for projects in this domain.

1. Which microcontroller / board and sensors are used and why?
2. How does the device send data (Wi-Fi, MQTT, HTTP, Bluetooth)?
3. Where is the sensor data stored and visualised?
4. How is power consumption managed?
5. How would you secure the device and its communication?

9. Source Code & License

This project is developed by simplefoc and published on GitHub under the MIT License. Please follow the license terms and credit the original author when you use or modify this code.