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<DIV><FONT face=Arial size=2>I have not done much testing on non-flat
areas. At my sister's house the robot ran straight down the road and then
made the turn. As the robot went up the curb to a lawn, the robot turned
20-30 degrees to the right and then straightened out once it was on the
yard. There was not room to complet the 100 foot square. It looked
like the curb climb introduced a 6" to 1 foot error that would not be
corrected.</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>The P only stearing has an oscillation of 5 to 6
centimeters. The actual caluclation is</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2> correction in micoSeconds
(command to stearing servos) = constant * atan(offset from desired
line)</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>By the way, I finally got a price on the Honeywell
gyro compensated compass (3 axis accel, 3 axis mag, and 1 axis rate gyro) --
$1400+. Not a good bargin.</FONT></DIV>
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<DIV><FONT face=Arial size=2>Thanks again for the work done on the
competion.</FONT></DIV>
<DIV><FONT face=Arial size=2></FONT> </DIV>
<DIV><FONT face=Arial size=2>John Abshier</FONT></DIV></BODY></HTML>