Patent ID: 9360846
Filing Date: 2016-06-07
CPC Classification: A63H,G05B

Claim Text:
1. A radio controlled (RC) vehicle comprising: a servomotor comprising a servomotor shaft; a servomotor controller configured to generate one or more control signals for controlling the servomotor, wherein at least one of the control signals is a power control signal based at least in part on: (i) a rotational speed of the servomotor based at least in part on a back electromotive force measured at the servomotor, and (ii) a rotational direction of the servomotor; wherein at least one of the control signals is a directional control signal based at least in part on an input received via a radio-controlled (RC) vehicle controller associated with the RC vehicle; and wherein the power control signal is based at least in part on: (i) a proportional factor multiplied by a positional error, wherein the positional error is the difference between a desired rotational position of the servomotor shaft and a present rotational position of the servomotor shaft, (ii) a velocity factor multiplied by the product of a rotational speed of the servomotor and a rotational direction of the servomotor, and (iii) an integral factor multiplied by an integral of the servomotor positional error over time.