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The trick to auto-balance is not the software
Posted by Andy Baker at 03/28/2001 8:44 AM EST
Engineer on team #45, TechnoKats, from Kokomo High School and Delphi Automotive Systems.
In Reply to: Best two I've seen.....
Posted by Jason Morrella on 03/28/2001 6:30 AM EST:
Jason, Ken, David, and others...
Thank you for your kind words. It is awesome that other teams have taken notice of our balancing system. It is nice to have good people helping each other out.
I've written this before, but this time I will be more succinct: It is not just the gyro and the software.
Traction and power are just as important.
Your drive system must have traction in order to not spin your wheels, and it also must have power in order to get the reactional movement that is needed to balance reliably.
As for our design... we're not so amazed that the gyro is working, we are more amazed that our drive motors work they way we hoped. Our drive motors are the key to our system... we have coupled the F-P motor into the backside of the Drill motor, and we are still using the Drill motor's gearbox to switch from low to high gear. We are always in low gear when balancing.
The hard part to this dual motor system is the coupling between the F-P motor and the Drill motor. I don't remember how many couplings we detached until we got the design right.
If you are interested in more of the details of this design, please stop by the pits at Nationals.
Andy B.
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Teams whose goal is to play on Einstein think about strategy differently from teams whose goal is to be selected for an alliance at a district event. - alopex_rex [more] 
24-06-2002, 02:56
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