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Originally Posted by sparksandtabs
i asked someone and they said that a this would be easier for me then a bipod
plus i like the mth involved in this, hahaha first sign of a geek!
also are there any enigneers or people that can help me on aim msn or yahoo with the math, i know the outline of what i need to do (linearize the the inpout voltage and the tilt) but i have figured out how yet
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First, we need to know much more about what you are doing this with - what size, what controller, what sensor(s), what motors.
There is absolutely no equation someone can give you that is the motor output as a function of the analog input that will instantly work, epically without knowing that information.
As I told you when you IM'd me, I think you are thinking of this way too much like a scientist and not like an engineer. I would not be concerned with some equation that backs up the physics behind it, but rather something that provides a solution - which are related but not the same. You will probably need some PID control, or some sort of error-based control theory, and watch your integration term so you don't get oscillation. Without Calculus, I think you will have difficulty understanding the math of the physics that explains the problem, and I think you might want to take a simpler approach. I don't understand what you are talking about when you say "linearize the input voltage and the tilt" - you are getting discreetly sampled values on the analog input. The tilt angle is the integration of the yaw rate sensor's values, in whatever units they are in (you will have to convert the 10-bit analog values to degrees or something it if you want to use a non-arbitrary unit). You probably want to break the problem up - find a way to keep the robot at a stand still without falling, and then worry about driving it without it falling, having it move at the same time is an additional task to worry about after you can get it to stand still.
Others, please correct me if I am wrong, I have not actually done this project, but this is how I would approach it.