Why do you have "PID" and "PID_comp"?? is "a" a tuning factor (as my "K") ??
Also if your loop is fixed time, you can omit the dt factor
Please let me know which Acc and Gyro models are buit on your specific Sparkfun board
Is there any reason why the gyro is placed at the bottom? Intuitively I would think it was better to place it near the 'top'.Feel free to correct me, I read somewhere it eliminates uncertainty with the readings.
Hardware: 2 x 29:1 12V Gearmotors, SN754410NE H-Bridge, Arduino Nano 3.0, Sparkfun 5DOF IMU.
Yes, one motor responses quicker/more than the other. I know this is sad, I didn't know it accepts -255 to 255. I though it was only 0-255.
Gibby663, I suspect that your signal aquisition and processing is not adequate.
Your bot is really sophisticated, you should have spent a lot of time on this project
For convenience, you will have to remove you breadboard from the bot (I did)
I'd love to build smething like this, only I don't have the money. (or intelligence!)