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Jun 18, 2014, 08:29 PM
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Other plans

A new plan was the simplest possible brushed motor wheeled thing. It would passively balance when stationary, allowing it to turn. It would rest on a 3rd wheel when moving, limiting it to very slow turns. A 4th wheel or springy thing would be provided, to keep it from flipping over.

After some time, discovered the spare EM812's are not real MOSFET motor drivers, but the cheapest won hung low BJT bridges. The G-buggy's controller was still impossible to beat, as a simple motor driver.

Some geared brushed motors didn't have nearly as much starting torque as the direct drive brushless motors. Brushed motors were the simplest, lowest voltage solution.

There's real appeal in a passively stable, brushless direct drive solution, from the standpoint of efficiency, but it requires a lot of software magic to get enough starting torque, then transition to back EMF mode for optimum efficiency. The startup is still terribly inefficient. Sensored motors are apparently the recommended solution for a wheeled vehicle.

The passively stable brushless direct drive solution would use up all the parts that could make a balancing robot. A balancing robot that balanced when stationary, then used a 3rd wheel for speed is still tantalizing. There's another idea of a balancing robot that used a control moment gyro for stability at high speed. It needs just enough inertia to dampen the forward flip, but can stabilize itself with its 2 wheels, unlike the reaction wheel unicycles. That would achieve 7.5mph, but be very heavy.

There are millions of balancing robots. There was 1 video of a BLDC balancer. It didn't look any more stable than geared motors.

BLDC Balancing Robot (2 min 2 sec)

There were some short ones which didn't work very well.

Self Balancing Robot with Arduino (0 min 57 sec)

Multiwii Self Balancing Robot HK 328p Test 2 (2 min 44 sec)

Self Balancing Robot (Arduino + MPU6050) - First tuning (1 min 12 sec)

Self Balancing Robot (0 min 46 sec)

In just 4 years, the miracle of Arduino has allowed every Walmart employee to design what used to take a huge learning curve. It feels like knowledge is being democratized in ever shorter timespans, until eventually there's going to be no point in knowing how to do anything, because anything you know becomes obsolete in milliseconds.
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