It has been a while. Some local 'education' folks have taken an interest in my project. This is good.
Here is a new video. It amply demonstrates what happens when we cross the line from 'code inside a PIC' and the 'real world'. The third segment of the video shows that 'simple' threshold adjustment linear with speed adjustment is not enough. We also have control loop bandwidth issues. Looking closely at the behavior and knowing what I know now I think the intermittent problem was the 7.2 volt battery connection.
Interesting....




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