Instructables
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You are never to old to learn and try new things. I think one of the best days in my life was the day I discovered the Instructables web site. It opened up a whole new world to me. This is my third instructable . I really enjoy building anything that I can ride on or get in to.
I bought an Arduino Uno and was planning on building a balancing Robot. I was really impressed with the Balancing Skate Board that was published by Xenon John. It had most of the code that I would need to build a balancing something. That something evolved from a Robot to a Sit Down Segway clone, which I named the SITWAY. I want to at this time thank John for all the help and patience he showed me in building and testing this ible.

This is my second project involving a discarded electric wheel chair. The motors have great torque and are very reliable. They use 24 volts and have great range using two U1 type garden tractor batteries. You can't go any cheaper than that. 

The build went pretty smoothly. Thankfully Xenon John pitched in and helped me modify his code to work with my wheel chair motors.
After running all the tests I felt were needed I elected to have a young neighbor take the first ride. It turned out to be a real blast. So far eight or ten people have ridden it, the youngest being 12, and the oldest 81 (me). The training wheels limit the speed by limiting the forward tilt. I plan to keep the rear training wheels on permanently because I don't need a lot o speed going backwards.

The SITWAY appears to be pretty safe, but it does not have all the built in backup systems that a real Segway has, I have only tested it on my smooth driveway at this time. I have driven over small objects, and it still stayed stable..Any one can learn to drive it in about 5 or10 minutes. With all the testing and driving we have done I have yet had to charge the batteries. The original wheel chair had a published range of 20 miles.. HAVE FUN!!!



 
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great Instructable! ! I was happy to see you guys wearing a helmet. keep up the good work, can't wait to see your next project.
charlie82654 months ago

Mickydee

Great Instructable! I have made a similar segway type unit using wheelchair motors. I cannot get it to balance by its self. Can you tell me what PID parameters you used to get yours to balance?

Thanks Charlie

anooooos5 months ago

wonderful

Awesome work sir!! I am really happy to see you putting your experience for such innovative work & sharing it with people.
I am trying to build a self balancing scooter for my son, But here in India I am not able to find Sabertooth 2X25. So trying to figure out a way using high power transistors (2N3055) to drive motor. Will share the details once I am through with it.
I wanted to know how is the motor connected to the wheels. If possible please share the images of motor connected to wheels & also the specifications of the motor.
Once again thanks for sharing.

The motor and wheel are all in one unit from a powered wheelchair. There is also a gearbox included in this mechanism which means the motors spin quickly but the wheels turn slowly (but with a lot of turning force). If you can find a powered wheelchair to look at you will see what I mean.

Thank you very much sir!
XenonJohn7 months ago

Hi all,

The analog output IMU's are proving to be very hard to find now. I have finally managed to get a self-balancer working with a DIGITAL IMU that is easily available from Sparkfun. I have used snippets of code from all over the web to get it to work. I posted an Instructable on it here, with Arduino code, in case it helps anyone who is unable to obtain one of the older IMU's. Have tested it on my self-balance skateboard and it works fine.

http://www.instructables.com/id/Arduino-Self-Balan...

John

pabz961 year ago
hi we Ecuador mechatronics students interested in your project we design and the programming code as we need for a project grade so beneficent a donation
I built a stand up segway based off this code and everything works except that when it goes forward, it will eventually slow down and not keep a constant speed although I'm still leaning forward. any ideas on what values I can modify to fix this?
N_Settle911 year ago
Mickydee I'd like to thank you and Xenon John both for two great instructables. As an Electrical Engineering student the Sitway seemed like an awesome project. I still have to build my frame, but i have all my electronics wired up on a test board to work out the code before building the frame. For those who are looking for a replacement for the sparkfun 5 dof IMU I have found one, the balance point isn't quite the same but it is almost plug and play with your code. Here is the IMU I am using http://www.dhgate.com/gy-66-idg655-adxl335-module-5dof-module-twin/p-ff8080813c8a9352013d15d2c35b77d9.html
Have just added a link to that IMU to my Instructable. Thank you very much for finding it. Many people are having trouble getting hold of analog IMU's so this will help them a lot.

John
eyhseow1 year ago
Dear Mickydee

I have just bulid the hardware for self balancing electric skateboard using Arduino Uno to control with 5DOF IMU (IDG655 ADXL33). I have encouter some problems: -
1. When I tilted the scooter too much, it will fly off. Is there any code in the program to prevent the scooter from flying off if it is tilt too much?
2. When the scooter fly off, it took quite a bit of time to ‘recover’ to it balancing position if I were to tilt it to the opposite direction. Anywhere in the code where I can change to have the scooter tilt back faster?

I am using code from XenoJohn from instructables website. Please help.

Thanks.
akeonly1 year ago
After half an hour reading your instructables, I have to say you're awesome in Thai. สุดยอด!
seadoogsx1 year ago
Hi Mickydee,
Sparkfun IMU Part # SEN-11072 is retired now 03/18/2013. I'm very appreciated if you have other to replace it. Thanks
rlarios1 year ago
Nice job, sir ! I read the book about the development of segway which was very descriptive with all aspects of it. There's a lot of work on something like this and I can only say that you are awesome !
mickydee (author)  rlarios1 year ago
Thank you very much. I appreciate your thoughts. This is a great community, and every one seems to work together. This is my first attempt at a self balancing project, and I owe most of my success to Xenon John and his balancing skateboard and his software.
Mickydee
seadoogsx1 year ago
Hello Mickydee,
I read your project and very impressive to me. Today is 03/14/2013. I can not find 5 degrees of freedom IMU from SparkFun. I already have wheel chair motor, Arduino Uno, Sabertooth 2X25 etc... Can you help me, where can I find 5 degrees of freedom IMU or something replace it. And the code to work with.
Thanks, have nice day.
mickydee (author)  seadoogsx1 year ago
Xenon John has researched this problem and says that Sparkfun is now stocking a replacement IMU Part # SEN-11072. He says that it will work perfectly with the existing code. I am going to order one and try it out.
Good luck on your project. I am working on an improved machine and it should be ready soon
Mickydee
startree1 year ago
so very cool!! I need to learn about arduino so I can make stuff like this - especially for my aging parents. They'd be way too proud to use a wheelchair but this might just be the thing...
(removed by author or community request)
It's disappointing to see comments like this in Instructables. Surely you can see that it's for people who rise to challenges, technical or otherwise, and enjoy sharing the journey.
I know, I was just making a joke. I realize now that it was not a nice comment to post. sorry about that.
I am a disabled vet. I tried to do some camping / hiking with my wife and daughter on several occasions and have been demoralized with having to have to two carry me back - literally! I am not ready to throw the towel in and go with a power scooter or wheel chair. I am currently trying to build my own Segway Clone and have everything except the Sabertooth Motor controller which is another issue and the matter of money. This "Sitdown" idea of a Segway will actually be very helpful in my case. I still concider myself young, but have a spinal injury that has forced me from standing (let alone hiking or going out to the state parks which I love). This "Sitdows" SgWay Clone is an awesome idea , Thank You Mickydee! Awesome Job!
Have just built a segway clone with a unicycle seat on it and handlebars.

One issue with a seat is that if you fall off because it tips forwards, you can just jump off forwards and end up standing on ground, holding handlebars low, below the level of your waist, with the rest of the segway behind you. So far so good.

Problem is, as this happens, the seat punches you in the back!

This maybe why regular Segway does not have a seat. Good example of why you have to eventually build something to find these sorts of things out.

Maybe I need a very well sprung long-travel telescopic seat mount.................

John
mickydee (author)  joegeek2 years ago
I think the Sabertooth is worth waiting for.I looked into building my own controller and found that the parts would be almost as much as buying the Sabertooth. Plus you get the many choices of input , from PWM (for RC control) to the adjustable serial input used by this project.
REMEMBER this is not a full fledged Segway with all it's back-up circuits, so it will not be as stable in rough conditions such as the woods or trail riding.
It is a fun project though and can give you hours of fun building, testing , and riding.
Thanks for the comment
Mickydee
Your joke is funny, but joegeek has a point that it is good for disabled people.
You obviously are young enough to not have back problems.
Why is the motor driver so expensive, and why can't you use one under $30 like the official motor shield?
mickydee (author)  4lifenerdfighter1 year ago
These motors draw around 15 amps at peak. Even if you use the 350 watt Chinese motors you will have the same problem. The cheaper shields will only tolerate around 2 amps. Also the Sabertooth has so many options that make your life easier. I thought about building my own drivers but the parts alone would cost almost as much.
If you are going to build this I would suggest you bite the bullet and buy the Sabertooth.
mahsa arian2 years ago
WOW!
realy good
Congrats on being a finalist!
Great job - You've also inspired me (69) to post some of my projects!
I also have a wheelchair I got at a garage sale with very similar wheels and motors to yours and would like to construct a "Sitway". However, when I turn the wheels there's about 5 degrees of "slop" before they engage the motor/gearbox, and I'm thinking that there's no way it can maintain stability with that much slop. Do your wheels have that much slop?

Eric
mickydee (author)  esotericeric2 years ago
I have some "slop", but not as much as you are experiencing. Mine seems to achieve a stable balance.
I built this thing as a low cost project, and that is the reason for using the used wheelchair . If you want to get tighter balance you should use a chain drive system.
I have thought about repacking the gear box with heavy grease to smooth out the
gear lash. I plan to rebuild mine using a chain drive system and larger wheels.
This was my first attempt at building a "self balancing" vehicle, and am learning as I go. It's a fun project. Go for it. You wont be sorry
Try using the 300-400 watt motors from china that come with a 6:1 (approx) reduction gearbox and chain sprocket built in.

http://www.ebay.com/itm/24V-350W-Electric-Motor-W-Gear-9T-Sprocket-24-Volt-350-Watt-MY1016Z3-/180734270314?pt=Motorcycles_Parts_Accessories&hash=item2a149a1b6a&vxp=mtr

Part code number is MY1016Z3

Almost zero backlash in the reduction gears.

The chain sprocket keyway eventually works loose as not really designed to be going from forward to reverse all the time. In the end I took end plate off and welded the chain sprocket on using burst of MIG, then sprayed it with my anti-spatter spray to cool it, had a cup of coffee and left it for 30 min to cool, then another small burst and so on, to make sure I did not cook the outer bearing. Works fine now. This way you can use a bigger wheel without resorting to a massive chain sprocket on the wheel.

Once you are moving along the slop becomes less relevant as more like varying the trottle to make a bike do a wheelie.

Is an issue when balancing in one place. If you set the gain too high machine will start to oscillate as gyro detects the sudden jolt as gears move (backlash). Can still make it work OK but with lower gain the machine feels a bit "mushy" as you ride it. Can sometimes overcome problem by having low gain around +2 to -2 degrees of tilt for example, then increase the gain a little as tilt angle increases (and so after any backlash from any recent change in direction has been taken up by the gearbox) to tighten up the ride.

Best solution would be motor with a toothed belt drive to wheel. Working on something now but not as easy as it sounds.
XenonJohn2 years ago
Good news.
Sparkfun have just released an updated version of their 5dof analog output IMU.

IMU Analog Combo Board - 5 Degrees of Freedom IDG500/ADXL335

Part number SEN-11072
So, everything is OK again.

John
armstrod2 years ago
Beautifully written sir, you get my vote. I generally just browse the site looking for ideas to get the brain ticking over, but yours was enough to make me log in and vote. The combination of a beautifully built device, fully specced out parts list and an instructable that presents a complicated device in a completely accessible manner has me truly impressed, and a little envious!

(It was the 45 degree braces and slotted motor mount holes that really caught my eye though. Hallmark of an Engineer. I will be keen to see your next instructable!)
jgeidl2 years ago
This, like so many balancers, use the 5 Degrees of Freedom IMU that is no longer available. Has anyone tried the replacment IMU that Sparkfun sells
Clone of Sparkfun 5dof IMU found on ebay:

GOOD NEWS EVERYONE
This clone IMU on eBay looks exactly like the SparkFun 5dof analog output IMU that they have now discontinued. Price is good too.

http://www.ebay.com/itm/190478609162?ssPageName=STRK:null:IT&_trksid=p3984.m1542.l2649


This may help a few people.

John
Hi,
For anyone who wants to take the plunge and have a go with a 6dof Sparkfun DIGITAL IMu I have just attached some code to page 53 of my skateboard instructable. Not fully tested yet but all the values it gives seem smooth and about right.

http://www.instructables.com/id/edit/?instructableId=E3C1NR6G6MPQ5EM#instructableId=E3C1NR6G6MPQ5EM,stepId=SZGO7T3GZKE1JXL

John
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