More Belligerator Progress

The poor little belligerator has not made much progress as of late, but I have finally attached the head, and the rate sensor is connected. There is a little drift (around 1%) which I have been able to remove with a little clever code, but I have yet to set up the tilt sensor, or to code the kalmann filter.

I am also using a boot loader on this project, since I have finally tired of detonating avrisp programmers.

Next on the plan is setting up the PID loop, extending the torso (the mass moment of inertia is way too low right now)

Once this device is balancing, I will re-evaluate whether to continue with this small scale robot, or build something larger. Paradoxically, it is often cheaper to build big than small, and big allows for more interesting mistakes ;)