Inverted Pendulum with EMB and Python

Time for a Classic: The Inverted Pendulum!

Using the modularity of EMB, students can easily create an inverted pendulum plant.

An EMB rotary encoder module is mounted to the top of an EMB linear slide that is driven by an EMB actuator module. The position of the cart is measured using the liner slide's internal linear encoder and the pendulum angle is measured with the rotary encoder.

The Python code and pysimCoder diagram was based on the original pysimCoder examples from Professor Roberto Bucher (thank you!):
https://github.com/robertobucher/pysimCoder-examples

Python was used for modeling of the plant using Lagrange Method (SymPy) and the LQR balance controller with the Python Control Systems Library and custom functions from Prof.Bucher (available in pysimCoder).
This Python script was linked to the pysimCoder diagram and real-time code was auto-generated for NuttX to run on the DAQ in real-time.

Hardware:
- EMB-AM4 (Motor)
- EMB-LM1 (Linear Slide Block)
- EMB-SM1 (Encoder)
- EMB Pendulum Attachment
- EMB Rack and Pinion Attachment
- EMB-DAQ2 (Real-Time Target)
- Maxon ESCON (Amplifier)
- Power Supply

Software:
- pysimCoder
- NuttX
- Python (system modeling and controller design)
- RTScope (real-time plotting)

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