Semi-Quadcopter

Built and wired self-balancing semi-quadcopter with 2 degrees of freedom.

Description

  • Built and wired self-balancing semi-quadcopter with 2 degrees of freedom
  • Coded Parallax Propeller microcontroller control algorithm in C to stabilize roll and pitch, using inertial measurement unit (IMU) and ultrasonic sensor
  • Researched and implemented PID control/tuning, I2C communication, and Kalman filter
  • Link to testing video: https://youtu.be/gu-WoXYLHz4

Technologies

  • SolidWorks CAD Software
  • 3D Printing
  • Arduino microcontroller
  • C++ programming
  • Circuitry design and wiring
  • Ultrasonic Sensor
  • Inertial Measurement Unit (IMU)

Example Images and Descriptions

Testing Video

Finished semi-quadcopter being tested to ensure it maintains balance and stabilizes itself despite being hit or carrying weights on either motor.

watering_system
Experiment Setup
watering_system
Functional Diagram

Diagram representing major components and systems in the semi-quadcopter and showing how they all interact

watering_system
Circuitry

Complete circuit for controlling the semi-quadcopter