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--- lego_rip_prog [2016/04/17 23:42] – created joaomatos
+++ lego_rip_prog [2016/04/17 23:51] (current) – joaomatos
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-.
+**PROGRAMMING**
+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).
+**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_nqc|Bricx Command Center Programming (NQC)]]