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I think we talked about this before school let out B.
You need to keep feeding motor power out and not let the scooter freewheel. Gaining undesired momentum will add forces that are unexpected to the code. Say for instance going up or down a hill. The program, based upon angle of tilt, must tell you how fast to go.
DON'T USE FREEWHEEL!!!
btw, the FP's seemed powerful enough to dynamically balance, but just weren't programmed to come back hard enough under a limited tilt. I'm working out the bugs, but without the prototype to play with all i got is theory and roboemu code.
Will
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