Eric's Inverted Pendulum..Prototype 1

Eric is a FRC team 599 Granada Hills Charter High School student (recently graduated) who wants to learn control theory. This is the first test of the EIP (Eric Inverted Pendulum) prototype. We incorporated the vamfun vex bbot software with a used E&J wheel chair frame and motors (160w,8.1NM torque,50 amp continuous), a new RobotPower Sidewinder controller , a Silicon Sensing CRS03-02 100 deg/s rate gryo and a freescale DEMOQE128 demo board with the 32 bit MCF51QE128 processor. The DEMOQE128 board has a built in accelerometer which is use for tilt angle measurement.

Category:

Autos & Vehicles

Tags:

• bbot
• segway
• demoqe128
• freescale
• MCF51QE128
• crs03
• silicon
• sensing
• gryo
• inverted
• pendulum
• balance
• robot
• wheelchair
• accelerometer
• vex
• 24
• sidewinder
• FRC
• 599
• Granada
• Hills
• Charter
• Everest
• Jennings

[vamfun]

OUCH..At the end of the first day of testing, a loose Solenoid wire caused an battery power input transient to the $400 Sidewinder Controller and blew 4 mosfets. Soooo... a word of caution: Use lock washers on all high power terminals!! RobotPower was nice enough to send a rebuilt replacement for a $100 and allowed us to repair the original one at a discounted price.

[locomondoss]

that is a fucking engineering!!! I liked the helmet u wear:p

[DaveAtDigital]

Sounds like a fun project! 

[roboman79]

thats cool!