In SX Microcontrollers, SX/B Compiler and SX-Key Tool, Zoot wrote:

Video of the controller [i]in situ[/i] here: [url]http://www.youtube.com/watch?v=9PGgkRUSlDY[/url]. This is straight drop-in with just some minor changes in the Stamp host program to accomodate the serial format for this SX (the program always stored and handled servo positions in brads, so actually the changes were to cut *out* a lot of code that has been shifted to the SX. I did not yet retune the PID routines for this 'bot -- it's running through it's main loop *so* much faster now that the old PID constants make it way too responsive and jittery, but you get the idea.

Since everything is brads, it's easy to do some nice algorithmic work on obstacle distances and angles -- esp. for things like pan angles -- looking front, side, etc.

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