Tim and Rob,
You're both doing great stuff here!
I ran the code in RoboEmu last night and it seemd to load and run fine....and behave as expected.
Looking at the code, you're using an integrator gain of 1, right Tim?
Also, would you expect to include a "bias drive" depending on what you're controling? (...saw that mentioned on the parallax site, so I'm just throwing that out there)
I was also wondering if you guys know how much time the puts and gets take.
...would running 3 pid's like this eat up much of the - what is it - 25msec cycle time we have on the Stamp?
Anyway, thanks again both of you...cool stuff
Eric Schreffler