lego_rip_prog
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- | The following tutorials were done following the same algorithm. | + | **PROGRAMMING** |
- | Pseudo Algorithm: | + | The balance method on this report will be a full state feedback , calculating the gains using LQR. Both programs were done following the same algorithm.The programs used were Simulink and Bricx Command Center (NQC Language). |
- | - Ordered List Item | + | |
- | - k | + | |
- | - k | + | |
- | - k | + | |
+ | **Pseudo Algorithm: | ||
+ | - get the position value from encoder. | ||
+ | - calculate velocity. | ||
+ | - get the state matrix [u] with Pendulum pos. and vel. and Motor pos. and vel. | ||
+ | - calculate motor input as [K]*[u]. Where [K] is the optimal gain matrix from LQR. | ||
+ | - send input to motor | ||
+ | - repeat | ||
+ | ---- | ||
+ | |||
+ | **TUTORIALS: | ||
* [[lego_rip_prog_simulink|Simulink Programming]] | * [[lego_rip_prog_simulink|Simulink Programming]] | ||
* [[lego_rip_prog_nqc|Bricx Command Center Programming (NQC)]] | * [[lego_rip_prog_nqc|Bricx Command Center Programming (NQC)]] |
lego_rip_prog.txt · Last modified: 2016/04/17 23:51 by joaomatos