http://ww1.microchip.com/downloads/en/AppNotes/00964A.pdf ----- Original Message ----- From: "James Humes" To: "Microcontroller discussion list - Public." Sent: Wednesday, November 16, 2005 4:50 PM Subject: Re: [EE]: 2-wheel Balancing Robot James, One thought, and this is what I wish I'd done my first go around, is to build the system that is on the nbot site where he is balancing a pole with a ball on top.. Instead of building this on a robot, build it on a track so that you can work out the details and then they'll all be directly applicable to a balancing bot. He uses a pot for feedback on the pole-balancer, and you could start there and add other sensors as you got comfortable. -- http://www.piclist.com PIC/SX FAQ & list archive View/change your membership options at http://mailman.mit.edu/mailman/listinfo/piclist