Not a flat spot then. Hummm... another thought occurs to me.
You know, you take a pencil, and push it into the ground an inch, and it will stand on its tip quite well. By the shape of the ground around the tip, through lateral resistances, it finds balance and stability.
Isn't there some shape if jBot approached it would find a similar support? For instance, if it happened on a parabolic U shape, wouldn't the differential term always favor turning toward the center of the U? Wouldn't it get stuck there? and require some other behavior to escape the stall?
Appologies for being absent at RBNO and contests. Some of my business dealings have turned south and requred attentions consuming all other interests.
Randy
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