A lot of progress has been on the stabilisation system. We have managed to:-

• Get the Stepper motors working in 1/4 steps. We needed 1/4 steps because full steps were causing vibrations and we would miss steps.
• Use Interrupts and clever coding to calculate (and buffer, using a Ring Buffer) timing values. We didn’t have enough memory to store timings in array and we could calculate just one time interval per step.
• Managed to implement Hall Effect sensors to detect when Smoothers are close to pre-determined position. This allows the system to calibrate the smoothers, i.e. move them into an initial starting position.
• Managed to get the Gyroscope working error free. We did this by getting to to check the status register to confirm data has been written to the registers. We also implemented a single Wire Read to get all the gyro data, rather then individual reads. This should give us extra cpu cycles while the stepper motors move. Very very critical!
• We calculate HIGH/LOW values for X, Y, Z. We also calculate average and variance of these values. We use the high/low values for x, z axis to set the values to Zero, should they fall within the range.

Below is Youtube movie of the system being testing. The video was slowed down because the smoothers move so fast, one cannot pick it up with ones eye!