The goal is to create an PID controller for an inverted pendulum built out of a salvaged Inkjet printer.
It´s using linear and rotational quadrature encoders found in the printer to determine the linear position of the cart and the angle of the pendulum. Its also using a salavaged photointerrupter as a limit switch. The motor is driven by an L298N Motordriver by an external power supply.
A video of the system in action along with further explanations and questions can be found here: https://www.youtube.com/watch?v=yyIvA0gJgm8
https://www.youtube.com/watch?v=_kBZzQOslTc //Updated Version
This Project is using the PID-Library by Brett Beauregard
- Arduino PID Library - Version 1.1.1
- by Brett Beauregard email@example.com brettbeauregard.com
- This Library is licensed under a GPLv3 License
For an ultra-detailed explanation of why the code is the way it is, please visit: http://brettbeauregard.com/blog/2011/04/improving-the-beginners-pid-introduction/
For function documentation see: http://playground.arduino.cc/Code/PIDLibrary