PC Based robot control code

This is the latest control code for my robot.
http://64.46.156.80/robot /
The source code should compile on Linux without any special libraries.
The code: i2cdev.cpp and i2cdev.h, a class to interface I2C devices. k8000.cpp and k8000.h, a class to use the i2cdev to interface to a Velleman K8000 I/O board. mencoder.cpp and mencoder.h. a class to use a PS/2 mouse as an encoder. mfkbd.cpp and mfkbd.h, a class to interface with the keyboard. motorctl.cpp and motorctl.h, a generic class to implement a PID control loop on a number of motors. mousecode.h, info about PS/2 mice. mouse.cpp and mouse.h, a class to interface to a PS/2 mouse. mpid.cpp and mpid.h, a class to implement PID calculations per motor. pcmctl.cpp and pcmctl.h, a subclass of motorctl, for the robot. robot.cpp and robot.h, a simple program to run the motors. util.cpp and util.h, simple utilities functions.
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mlw wrote:

Are you using the parallel interface to talk to the motors?
Eljin
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Eljin wrote:

Right now I am using a Velleman K8000 I/O board which talks on a parallel port I2C bus.
The motor amplifyer accepts +- 5Volts negative voltage go faster backwards and positive voltage goes faster forward. I am using two of the velleman D/A converters to drive the motors.
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mlw wrote:

Why not just hook it up to the printer port?
So, you're producing the PWM/PID on the computer or is that what the PWM board is about? If so, you are just sending it commands?
Eljin
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Eljin wrote:

That's how the K8000 board works.

The motor amplifier accepts, as I said, +- 5V for control, it produces direction and PWM for the H-Bridge
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mlw wrote:

I was looking at your web site again and I just realized that you are using the same drive motors as I am. Did you get yours from the Barbie Jeep too? :-)
What motor amps are you using?
Eljin
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Eljin wrote:

No, mine came off a BJs Wholesale "Scrambler." $65. I've seen it for as low as $35.

My own.

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I like your encoder mount.
can you please give more detailed pictures, and perhaps more information?
How do you mount the encoder to the metal bracket?
Rich
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snipped-for-privacy@gmail.com wrote:

Thanks.
Not without taking it apart again :(

With the single tool that rivals duct tape for usefullness: JB Weld epoxy.

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mlw wrote:
[snip]

Good stuff -- I've used it to make wheel shaft mounts for fairly heavy robots and have yet to see it fail, even under a fair amount of torque. It's amazing how well (and how long) this stuff holds up when properly applied.
--
(Replies: cleanse my address of the Mark of the Beast!)

Teleoperate a roving mobile robot from the web:
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