May 2024 - August 2024 (10th Grade)
- Maintains balance within ±1° of the vertical axis, even on inclines or uneven surfaces.
- Inspired by BB8 Droid from Star Wars
- Custom-designed and 3D printed frame, excluding motors, wheels, sensors, and fasteners.
- Equipped with 3 high-torque motors driving omni-wheels for 360° maneuverability.
- BNO055 IMU is the main source of sensor input, giving 3 axes of gyroscopic angle measurements
- Utilizes a PID + feedforward control loop, incorporating momentum counteraction equations for dynamic stability.
- Powered by 2 3.7V Single Cell LiPo Batteries, wired in series.
- Base is 100mm by 60mm in size, keeping it compact and lightweight.
- Ability to balance on a range of different materials and ball sizes above 9” in diameter