lego_rip_prog

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 lego_rip_prog [2016/04/17 23:45]joaomatos lego_rip_prog [2016/04/17 23:51] (current)joaomatos Both sides previous revision Previous revision 2016/04/17 23:51 joaomatos 2016/04/17 23:45 joaomatos 2016/04/17 23:44 joaomatos 2016/04/17 23:43 joaomatos 2016/04/17 23:42 joaomatos created 2016/04/17 23:51 joaomatos 2016/04/17 23:45 joaomatos 2016/04/17 23:44 joaomatos 2016/04/17 23:43 joaomatos 2016/04/17 23:42 joaomatos created 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)]]