>Is there a / tell us about balancing robots.
>Inquiring minds want to know ...

I'm trying to build a small balancing robot. The board I'm making here
has a PIC18F2550 as the "brain," and an accelerometer and gyroscope
will be used to detect the tilt and rate of rotation (the op amp /
line follower is there because the sensors have a higher resistance
than the ADC allows for inputs).

I'm hoping a PID loop will be enough to keep it standing up, although
I'm sure there will be lots of jitter. I know the proper way to do
this is to use a Kalman filter, but I don't have the mathematical
knowledge (yet) to implement one, and I don't know if a PIC18 could
even handle a Kalman filter?


>Are there two motors?

Yes, there are two motors. One motor is connected to 1Y & 2Y, the
other to 3Y & 4Y.


>Have you an Resistor and Capacitor (snubber rated suitably) at the motor
>contacts too?

Someone else mentioned that I should put .1uF capacitors from each
motor terminal to the casing, and one across the terminals. Where
would the resistor go?


>> My mistake, I thought they were brushless.

>Wait a minute!  How can you make a driving circuit without knowing what ki=
nd
>of motor you are driving.

Ignorance.


>That looks right.  Next time don't be so lazy and rotate the part
>designators properly before asking anyone else to look at the schematic.

This will probably drive you nuts, but what's a part designator and
which way should it be rotated?


Thanks for your help!
--=20
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