### 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.

### Craigway:

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. wrv3900@rit.edu