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I'm not sure what pi or pid are. But the algorithm contains a few complex steps or reverse engineering.
Right now it balances decent, but i think it's balancing for a weight somewhere between what the average rider is and what the unloaded craigway is.
Hence it overreacts to unloaded sway, underreacts to a load. Our test driver, Craig, was able to do a very good job controlling it. Staying upright, swivel turning, and moving across the room. Check out the videos on the first page of this thread to see for yourself.
I'm currently working out a far more complex algorithm to determine speed, with a configurable user weight input. I only wish i payed attention in ap physics. Stupid torque problems!!!
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