[fsgond]

Team 135 was able to get this to work quite well with PID control. I do not have access to the code right now or I would post it. We found that the robot could balance in about half the time than the human could. You are definitely on to something and you should not be discouraged. FIRST is all about figuring out problems that you never thought you would come across. If I am in our shop in the next few days, I will try to get a screen shot of how we are doing it.