Summary

The ME 405 term project serves to demonstrate skill with multi-tasking, mechanical modeling, control theory, and firmware implementation. This takes the form of using these skills to balance an inverted pendulum system, in our case a platform capable of pitch and roll motion. The following documentation includes the drivers, tasks, main file, graphs, and diagrams. Taken together, these demonstrate the underlying mechanisms of platform operation, the means of operating said platform,the architecture of our code, and the results upon balancing the platform.

This project was completed in tandem with Eliot Briefer. Certain referenced files are hosted on his repository.

For purposes of redundancy, the following link is provided to Eliot's portfolio for the term project: https://ebriefer.bitbucket.io/me405FP.html

The components completed were:

Reading from Resistive Touch Panels
Driving DC Motors with PWM and H-bridges
Reading from Quadrature Encoders
Balancing the Ball

Navigation

In the pages below, you will find all related areas of our projects for all four components.