Robotics / Embedded

Robomaster Self-Balancing Ball-Throwing Robot

This project was built for the Robomaster HKUST internal competition by a 14-person team over a one-month development cycle. Our team finished 3rd overall.

My Role

• Worked on the self-balancing robot subsystem.
• Participated in PID tuning for balancing stability.
• Integrated MPU6500 sensing, motor control, and encoder processing.
• Used STM32F103C8T6 and FreeRTOS for multi-task operation.
• Contributed to sensor task, motor task, vision task, and OpenCV color detection.

System Overview

The robot needed to keep balance, stop at specified positions, and throw a ball using a servo mechanism. The project connected embedded software, sensing, motor control, vision, and mechanical execution.

Technical Stack

• STM32F103C8T6
• FreeRTOS
• MPU6500
• JGA DC motor
• Encoder processing
• OpenCV color detection

Result

The team completed a working demo that could keep balance, stop at a target position, and perform the throwing action. The project won 3rd place in the competition.

Future Improvements

• Add clearer control logs and PID tuning records.
• Document task frequencies and communication between FreeRTOS tasks.
• Add photos, videos, and a GitHub repository link when available.