Final Project Update

I was working quite a bit on getting this coded and put together, so I didn't do anything for networking, as it seemed a bit involved given my time constraints at the end of the semester.

So the electronics for this are almost finished; the only hitch I had was I blew my H-bridge chip, capacitors, and some of the power MOSFETs, so new ones are on order.  But I already verified that the controller works and can send it signals as I choose.  I have hooked up the force sensors and figured out how to tighten the trucks such that I get pretty good resolution.  This may require some tweaking, but I did some Processing tests to see what the balance of values were when I leaned forward and back, and it looked pretty good, eminently codeable.  The only thing that still concerns me is that when I turn, the dynamic change in the side force sensor signals don't seem to match.  There's this same up/down behavior.  I hope that the motor acts as a wide enough low pass band filter that some of that gets nipped.  I plan to ramp the signal, but we'll have to see by how much.  I'd like to still see some responsiveness. 

Here's what I still need to do:

I need to hook up a reset button to the exterior so that I can recalibrate at will. 
I need to test and make sure the current monitoring hall effect sensor works properly, and get that circuit fully integrated into the Ebox (and the monitoring into my code).
I need to replace the fried components on my motor controller board and test the result.
I need to see if the 50 Ohm 50W resistors I'm getting are good at controlling the spark I've been getting when I hook the battery up.  The idea is to charge the capacitors through the resistor each time before connecting the battery.  (This is not as bad as it sounds as most of the time the battery will just remain connected).  Supposedly this sparking is not really a problem other than adversely affecting the life of the leads through oxidation. 
I need to integrate a big LED tied to the Hall effect sensor output, which gives a visual clue of the current draw and looks cool through the translucent Ebox.
I need to finish coding my script and iteratively test to see what values make sense for stability vs. performance (assuming I get everything to work in the next week).

Here is a picture of what I've got so far. 




Update: I made harnesses for all of my wires, with headers and solid connections, so nothing is soldered directly and everything can be taken off.  I also consolidated the separate boards I made into one, including the voltage regulator, parallel voltage dividers, and Hall effect current sensor.  It now looks much better than the spaghetti tangle of wires pictured here.