remote

While I wait on a new battery and optical sensors, it’s time to work on a remote controller:

Details:

• Bluetooth (old buggy v1.1 CSR chipset),
• LED to indicate power (flashing) and successful pairing with slave module (on 100%),
• Joystick salvaged from some game console controller,
• Power switch,
• Oversized die-cast box 😉

New wheel in action

Got my new wheel installed the other day after turning up some shaft adapters for the hub. After installing it I had a play with increasing the feedback gains on the lateral balancing circuit. The bandwidth limiting for the previous pneumatic wheel is still in place but the improved performance is already noticeable. The response to disturbances is less sloppy, it holds true to 0° much better, and no limit cycles are generated despite increasing gains by 1.5x, 2x and 3x for roll angle, roll rate, and wheel rate respectively.