11/2/2006 progress:

I tested my PWM code (and corrected a typo in my blog) tonight. I’m happy to report that locked anti-phase is working. The “sings” at the locked position but I can live with that (I think). Hopefully it won’t be louder than the voice chip speaker. Also, using my RC wattmeter my motor never goes above 1A even with a locked rotor (i.e. my stopping it by hand) with a 12V motor source.

So next on the agenda is PID testing. Then onward to line following.

Onward,

Jay