Control of the inverted pendulum was first done using two potentiometers on the cart, one for the rod angle and one for the cart position, read through a DT2811 A/D card on a computer. This same computer determined the appropriate control output and sent it back to the cart. A network was not used since one computer handled sensors and control.
Next, a camera was added to monitor the cart's position instead of using the 2nd potentiometer. This camera was also connected directly to the control computer. Rod angle was still measured using a potentiometer.
Both stages of this controller worked well to stabilize the pendulum.
Additional equipment to use camera:
Setup (showing optional camera)
Code for using potentiometers only can be found in folder demos/IPC_DT2811 and code for adding the camera can be found in folder demos/IPC_Camera of the S.Ha.R.K. code in the downloads section.
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