Hey,
I suggest using an accel & gyro so as to correct for the linear acceleration. Kinda like we did on the DIY Segway (
http://web.mit.edu/first/segway/)... You can even view our code.
Then again it might not work as well for this.
It's like as Kevin suggested:
Quote:
It's more work, but you could use another accelerometer pair mounted perpendicular to the gravity vector to measure the 'bots acceleration due to movement and then use this information to correct the arms position.
-Kevin
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But since they don't give you two accelerometers, and they do give you 1 accel & 1 gyro... it's more KOP-compatible.
Although if anybody has an extra gyro, we need one, ours is broken and we want to use it. Just a heads up, as we've already posted in CD-swap. We can probably trade our accel for your gyro if you wanna do the 2-accel method.