soo..from reading the nuts n volts article, i think the PBP is fast enough. After all, PBP gets compled into ASM, even bloated ASM will run pretty well at 40mhz with only a few tasks, right? this is the advantage of picbasic over parallax..

the nuts n volts december 2006 article pretty much spells it out.. in c though.. they use a RTOS as well.. real time operating system.. this is a type of OS with direct control of hardware. windows is not RTOS, linux is, for example..

the october 2006 article, which i cannot find covers the math, probably in pretty easy to understand terms.. i suggest you look for that... otherwise why not teach yourself the mathematics you need? how hard can it be? brak it into bits... find the main equation and do your best to understand it, then look at some code... the code will look much different...

ive never tried this type of project, but there are a ton of resources.. i watched a video of some really stable 2-wheelers.. off roading, over curbs, etc... also a relaly cute one that could follow children wearing red and had very compelling movement characteristics due to the PID correction being a bit coarse... it dipped and swayed with the child...





anyways... they list these resources:

www.geology.csmu.edu/~dpa-www/robo/nbot

http://autopilot.sourceforge.net/gallery.html

barello.net/Robots/gyrobot/index.htm

jormundgand.net/projects/crunch/

sparfkun.com

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