Uploaded January 2018 | Updated September 2026, 1 week ago
Andrea Favero
|
20180106 U12 Groningen Eindhoven
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![Ball balancing robot, a new approach: MirrorBallBot [Raspberry Pi, RP2040, TMC2209, stepper motors]](https://i.ytimg.com/vi/ORftNl7bZG4/mqdefault.jpg "Ball balancing robot, a new approach: MirrorBallBot [Raspberry Pi, RP2040, TMC2209, stepper motors]
MirrorBallBot is an innovative yet simple ball balancing robot. Most ball balancing robots place the camera either above the platform (resulting in a taller structure) or underneath it (requiring a smaller platform). I wanted neither... so I added a mirror. Problem solved!
What it can do:
- Auto-balance – keeps the ball centered
- Follow your finger on the touchscreen in real time
- Record and replay custom paths
- Predefined paths: square, circle, triangle, infinity, line
- Automatic color calibration
Open source – Python / MicroPython
All files, code, schematics, 3D printing files, and a detailed manual are linked below.
Materials cost: ~€300
Special thanks to:
- ELECROW for sponsoring the 7 DSI touchscreen
- PCBWay for sponsoring the custom PCB and supporting the DIY community
Hope you like the project! Let me know what you think.
Links:
- GitHub: [https://github.com/AndreaFavero71/mirrorballbot]
Sponsors:
- PCBWay: [https://www.pcbway.com/]
- ELECROW: [https://www.elecrow.com/7-inch-800-480-dsi-display-touch-screen-with-bracket-compatible-with-raspberry-pi.html?idd=5]
0:00 Disturbance rejection of the robot
0:10 Introduction to MirrorBallBot
0:27 Finger-follower and path recording feature
0:53 Classic camera placement
1:18 Solving the camera placement with a mirror
1:56 Predefined geometrical Paths
2:47 Touchscreen graphical interface
3:14 Calibration, and automatic ball color calibration (HSV) demo
3:35 Commercial components (stepper motors, Raspberry Pi camera, 7-inch DSI touchscreen by ELECROW)
3:51 Custom PCB (Raspberry Pi HAT) by PCBWay
4:25 Electronic (Raspberry Pi 4B, RP2040, TMC2209)
5:04 Open Source, files and conclusions
#robot
#3dprinting
#DIY
#BallBalancingRobot
#OpenSource
#RaspberryPi
#ComputerVision
# Ball Balancing Robot")
