pic: Vex 2 Wheel Balancing Robot

[billbo911]

Originally Posted by Tom Bottiglieri

It looks like the guts of the balancing comes from the accelerometer (from the 2005 KOP ), gyro, and encoder.

I remember seeing the control algorithm for this kind of bot on some site. It needed 4 inputs.. Angular position (found initially with accelerometer and force of gravity, then double integrated from gyro), angular rate of change (integrated from the angular acceleration reading from the gyro), linear position (encoders), and linear rate (derivative of position).

The stuff on top of the Vex controller was for a buzzer, and driving a backlit switch. There was a small servo amplifier on the other side.

Wow, thanks again Tom! Just like with the Kiwi Vex, you helped out tremendously.
(Now, if we can just see the code )