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lego_rip_prog [2016/04/17 23:45]
joaomatos
lego_rip_prog [2016/04/17 23:51] (current)
joaomatos
Line 1: Line 1:
-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