Thanks, but I didn't do much :-)

As for the RC and OI, you guys are right, I would guess, in the final drivable version (this was just a crude prototype) we would tether the RC and OI, and run them off the battery. It is either that or go to a completely different micro controller, and that doesn't seem like it is worth the effort until this machine is almost 100% operational.

I'm still worried that the Innovation FIRST equipment will not be able to react quickly enough to support a rider. It was never designed to work in real time. But then again, i've seen teams build robots as sophisticated as what were are trying to do...

To respond to the turning question, it doesn't not yet :-)

The prototype only gies forwards and backwards and is controlled by the input from 1 gyro. Will's plan is to add a potentiometer for CW/CCW rotation. That will probably be put into effect as soon as we build a new platform, in Sept.

Bingo. The code has what i call a correction factor that adjusts how fast the motors throttle to react to the sway of the rider. By intergrating potentiometers we will be able to manually adjust the correction factor to add more or less acceleration and decceleration.

Hence turning by adding more acceleration to one side while removing from the other side.

However you can't spin in place like this. From what i see in the segway videos the 3 angular rate sensors help detect lean into the turns so one doesn't fall off the side of the seqway.

Will

Actually, I recall hearing an announcment in the pits at Houston asking teams not to ride around on 'personal transport devices' in the pits. I'm guessing that was geared towards the teams who had thier own segways (or gokarts).

How'd you guys interface with the gyro, did you do just connect it directly to the analogs and do some programming miracles or did you use some kind of special circuit? I was looking in to using a resistor/capacitor circuit to emulate the behavior of a "real" gyro, any info appreciated.

just attached the gyro to the analog inputs..

nothing fancy on the device yet :-)

Umm... Gokarts?

I bet that was the same team looking for a flux capacitor... what devious plot could they be cooking up.

As for the segway thing, a kid from my team is convinced that we could build one using drill motors that would go at least 10 fps. As for wether or not we could, that's a very questionable matter.

We're using the drills but I dont think we can get 10 fps, heh thats too fast anyway, I'd hurt myself. Now to justify this post, are you guys bringing that to SBPLI? We're hoping to have a working prototype with us there and I'd love to get together and exchange thoughts and ideas.

well, our main motivation was to build one just to show off the technical prowess of the robotics team and have some fun, but if we build one it would most definiately accompany the team to all competitions and demonstrations..

I have a question for those of you that have actually completed a FIRST built segway.

I have been working on some blueprints of the one I am trying to build, and I am having a hard time finding out how to connect the drive train to the "handel bars". My thinking is to forget about programming all the gyro stuff (I'll have to work hard enough to build it) and to just create a variable speed dial for controling the forward and reverse speed.

If anyone has any pictures or blueprints on how to connect the drive train to the "handel bars", I would love to see them.

Thank You.

GregTheGreat@attbi.com

Also, do you guys know how to build one of those little twisty throttle things? like the ones it uses to turn?

Handlebar and motor connection
 

On our KnightKrawler, the window motors and both wheels are attached to a two 3/4 thich aluminum motormounts which are attached to the standing platform which has the battery box pop rivited to it and the handlebar mounting tube is attached to the battery box.


The question about the PVC throttle mechanism ...the throttle and turning twist grip control is done by slipping a second tube over the handle bar tube and containing it with a press fitted third section of tube. a bit of the handlebar tube is left sticking out to allow for precise control. when your hand is part on and partly off the twist tube you can more accurately control the input while you are trying to keep your balance. Of course if you have a dynamicaly balanced system that works well this will be less of an issue.

The potentiometer has a wheel attached with an "O"ring to touch
the twist tube....it doesn't touch directly though, it needs additional traction and we use bicycle grip tape to give a spongey
positive reaction to the pot. If you slip the potentiometer for any reason you will lose balance. You need to be sure that the pot is free to slip in cases of overturning or you will break the pot.
When it is all working right and the rider is experienced it is hard to tell that there is no gyro!

Need pictures?

sure I'd really like to see a picture, its sounds like a great throttle setup..

Ditto, also does it use any sort of spring to revert back to center/null position?

Certain electric scooters have a throttle control that works sort of like that. You might be able to just buy the part if you don't want to tweak around with making one.

Maybe, but I'd like to make my own, more for bragging rights than anything else really, but if it doesn't work out, got any links or suggestions as to where I can purchase one?