My 2017 resolution is to stop veering off onto new interesting projects, and finish the ones I have already cooking.
The latest, and doggone-it-I'll-finish-it, is a self-erecting, self-balancing 'bot. Here's my self-created pre-prototype:
This gives me a very rough idea of how I want to lay it out. Here's the visualization from the fellow who's doing the metalwork for me:
I'm hoping to get the metalwork in a few weeks.
I'm currently working on software development for the MPU-6050 using a Teensy 3.2. The Teensy makes a great host processor. Once I get decent position info I'll integrate that with the steppers and see what's what.
The lower horizontal bay is for electronics: the teensy and the two stepper drivers. The two stepper motors themselves mount below the bottom, with the MPU mounted between them, in line with the motor axles.
The narrow vertical bay is for the battery. I want the center-of-mass as high as is reasonable to minimize balance "twitchy-ness".
The wider vertical bay is for two servos. The first will mount high on the frame. Its output will connect to an arm extending downward ending in the second servo. The second servo's output arm will extend back upward and end in a foot.
I'm hoping I can arrange for the two servos and arms to bring the 'bot upright. I also think it would be neat that the upper servo swings the lower servo to aid in balancing. I suspect that once in nominal balance I could keep it upright with just the servo...
Updates to follow...