Angle measurement for balancing robot.

[Luciano]

Hi Henrik,

Why not work first on a simplified version of
the self-balancing robot?

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Version 1: (For flat surfaces only / indoor).

Use a Sharp infrared sensors to measure the distance to
the floor and uses that information to deduce tilt angle.
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Version 2: (For flat and inclined surfaces).

Encoders + rate gyro
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Try the second version of the self-balancing robot only when
version one works as expected. I am sure that you will
able to re-use part of the code and experience developed
during the realization of the first version.

Best regards,

Luciano