Conversion:    Weight to mass.

            150lb.  (rider)  / 2.20  * 9.8  = 666.4N


Find absolute angle to horizon:  (portion of actual code)

 IF Dforw>Drev THEN angtoh=90-((((Dforw-Drev)/120)*180)/100)
 IF Dforw<Drev THEN angtoh=90-((((Drev-Dforw)/120)*180)/100)


Find horizontal force:    *** VERY IMPORTANT ***

Fx = 666.4 * cos (angtoh)

        ie  angtoh = 80 degrees

        Fx= 666.4 * cos (80)  =  115.719


Wheel and Gear calculations:

     100 rpm, 35Nm (stall torque)

6" radius = .1524 meter = 229.66 N*,  5.236 feet/sec

7" radius = .1778 meter = 196.86 N*,  6.111 feet/sec

8" radius = .2032 meter = 172.24 N*,  6.981 feet/sec

*  This is maximum force tangential force.  The motor cannot according to specifications put out any more force.

        ****I believe the current wheels on the Craigway are 14" diameter, but I'm not sure, so all possible sizes were computed.



We've estimated the weight of the Craigway to 30lbs.  It has a Newton force of 133.636 N based upon that estimation. 

There comes a serious problem with compensating for the force of the tilted scooter itself.  When balance it has no interfering forces, but when beginning to tilt uncertain amounts of mass tilt around the axle.  For me to integrate the force of this into code poses many problems. 


ps. I omitted a lot of intermediate steps to get to the point quicker.  if you have a question of my math or wonder where I got something, just drop an email.