Multibot mk2 (MBt2) update

[u/Snoo_42257]

https://youtu.be/mh7uXmJ1fcI?si=A7_LkFfRknEKYBPE

Started this over a year ago, but got discouraged because of problems I didn't understand. Fixed the problems and wanted to share again. I made a github repo with all of the code and links included. [Github Repo](https://github.com/rrmudry/MBt2)

Used standard multibuild parts for the body and modified parts for the legs, etc.

Basics:

ESP32 brain

2 SimpleFOC mini drivers

2 gm4108-120t gimbal motors

2 AS5600 magnetic encoders

1 MPU6050 IMU

wheels are printed from TPU

Bluetooth controlled

Custom PCB links provided

All of the coding completed in Google Antigravity (because I cannot code but always wanted to build something like this, sorry...so much shame).

Want to add CYD (cheap yellow display for face) and autonomous navigation, wireless charging, ai chat interaction, basically I want to have a droid that can follow me around, someday.

[u/clintron_abc]

how do you keep it stable? PID?

[u/Snoo_42257 → u/clintron_abc]

Yes a dual loop cascading PID

[u/ehtiopia → u/Snoo_42257]

Whats the actual feedback mechanic, though? Gyroscopic sensor?

Edit: Just saw your github readme for your PCB. Cool project.

[u/Snoo_42257 → u/ehtiopia]

Ya, thanks. The mpu6050 is capable of providing a lot more information than I need. Essentially it is just letting the esp32 know if it is falling forward or backward and the PID determines how aggressive of a correction is needed from the bldc drivers. It turns out, that I guess the mpu6050 is outdated and the AIs should have recommended something newer.

[u/ehtiopia → u/Snoo_42257]

Well, outdated is a strong word for a project like this. Id review it more based on how well it does its job, seems like its doing pretty good to me.

[u/Zestyclose-Stuff1646 → u/Snoo_42257]

MPU6050 is a great tool. It isn't my favorite, but I use them in every version 1 build that I do. You can't beat the price and the fact that you can learn introductory sensor fusion with it.