Re: Team 862 - Self Balancing Scooter
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She appears to be a large lady. Any thoughts ony giving her a tummy tuck and sending her on a diet. Might make it a bit more interesting balance-wise.
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Yes, it's huge. It's 41 inches across. This is because the entire drive system is inline. Yes, I know this makes it large, but it still fits on standard sidewalks and makes it easier to build. Like I said before, our goal is to post a hugely detailed whitepaper on this in the near future, so it shouldn't be super complicated. And oh ya, the biggest motivating factor in making the design is that this one requires NO MACHINING!! Yep, that's right, once we publish this you can make your own without a machine shop. (Though a drill press may speed things up though :P)
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I'm interested in the Kalman filter as well. It wouldn't be terrible to write one, but a modular one would be a great tool to everyone.
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Software wise, we used a prefilter type thing, which basically gets ride of
these strange but HUGE random spikes in the accelerometer input. (I think this is a fault of the controller itself). Then, we used a Kalman filter to actually combine both sensor inputs. The Kalman filter was one we borrowed from another OSS project online, so we will be posting our full source code up when we release the whitepaper. We used the Kalman filter from the autopilot SF project, with very few modifications, in case you are wondering. I haven't started writing any part of the whitepaper yet, as we still need to finish our electronics for this project. But if you have any questions, I could answer them if you email me at "jakepoz AA.AAA.T..TT.T gmail D.O.OT com"
Yes, this was a great site, but this guy seems to have a ton of money, and our project was financed out of pocket by two teenagers. He spent $675 on his turning sensors, we spent $2.95... |
