Some example applications using the PIC32 API. These applications are implemented and tested on the ChipKIT UNO32 development board.
The following applications can be opened as MPLAB projects:
Potentiometer control is a simple application where a button can be used to turns on/off one or two motors. Each motor can be controlled by a separate potentiometer.
Draw test performs a simple control sequence in which it positions an optional pen end-effector at three different angles. This allows the user to evaluate the repeatability of the system and to identify potential drifts in the encoders. If two motors are found on the system, it will use both for the control sequence.
Data logger generates log data that can be used for parameter extraction. When using the application, save the log data data and run the appropriate matlab scripts.
Inverse kinematics is an application for controlling a 2D robotic arm with two joints. The user supplies an x-y coordinate and it calculates the required angles to reach that position. It also comes with an preliminary implementation of a path following algorithm in which the user can define a path that the arm should follow. This application is still work in progress.
Inverted pendulum is a work-in-progress application that tries to balance an inverted pendulum. It utilizes a MPU9150 IMU for measuring the angle of the pendulum and is controlled by a state-feedback controller.
In most of the applications you can change some definitions to change the identifiers of the target motors or the arm lengths. More information is available at the beginning of each main source file.
To run the applications above, you need to download and install the following development environment and compiler:
- MPLAB IDE. This is the main development environment for the PIC32 microprocessors from Microchip.
- XC32 compiler. The main cross compiler. There is a free compiler version available. NOTE! If you need to program the PIC24 controller on the motor joint, you also need to download the XC16 compiler.
- PIC32 Peripheral Library. This library is necessary if you use XC32 compiler 1.4 or later.