Finally - the hardware is almost complete

So the 18650 battery holders finally arrived yesterday. By drilling a few holes into the acrylic frame and battery holders, the holders could be securely screwed onto the robot.

figure

Other than some cables and wires being too long and the XT60 connector poking out of the side, the ballbot looks amazing!

So far, the 3s (11.1v nominal) configuration seems to provide a lot less power to the motors, so adjustments are being made to the tunings. The XT60 connector is still attached to the PCB in case I ever want to use a single 3 or 4 cell battery again.

Even though the hardware isn’t perfected yet, I have been programming the robot for nearly 2 weeks and it can now balance quite well. Videos later.