Hi Rodrigo,
I haven't worked on the robot for several months. I did get it to balance a bit with the two SHARP sensors but the goal is to use the gyro and acceleromter. I beleive the Kalman filter is an esential part of the equation to get that to work correctly. If you ever get to porting any of your Kalman code to PBP I'd very much appreciate if you'd share it.
Thanks!
/Henrik Olsson.
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