I haven't had the time to look at your code yet but it sounds like your having the same problems that I have.. I have no problem getting my robot to balance but it's shaking a lot and I think it's manly to the backlash. You can see it in the video blow if you look closely you will see the shaking..http://www.youtube.com/watch?v=X-pVfjXvQRo&feature=player_embeddedI have recently seen that I may have a problem with my IMU which the zero point is moving after a will and that I also think is do to the shaking and mess up the kalman filter..My next step is to change the motors to the stepper motors below:#1200 Stepper Motor: Unipolar/Bipolar, 200 Steps/Rev, 42x48mm, 4V, 1200mA#1182 A4988 Stepper Motor Driver Carrier
When you thinker with that bot you can really see way you need motors with encoders
Yeah, without encoders, getting the bot to stay still is hopeless Encoders are also usefull to compensate for the speed difference between left/right motors, and have straight moves.I am now controlling the Bot with Joystick BT Commander, from my Android phone
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