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Cheating a bit - using the SHARP GP2D120 Sensors

(2007-03-02)

Well, not really cheating, but balancing the robot with the accelerometer and gyro turned out to be even harder than I thought. It seems like the only way to do it properly is via some kind of highly math intensive filter (Kalman or other). A lot of work went into the motorcontrollers and I was in need of a little motivation booster. So I ordered two SHARP GP2D120 infrared distance sensors from Active Robotics in the UK. These were mounted under the baseplate facing straight down and interfaced to the main CPU thru two of the analog inputs. After about 30 minutes of codetweaking it balances fairly well.

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