Introduction

This is our project for the ME-305 Introduction to Mechatronics class. This is a portfolio complied of all the labs we have completed towards creating an automated mechanical system to balance a ball. The link to our source code is This link [ Source_Code: ].

LED Flash Game

[ LAB1: ] This is an LED Flash game in which the user will press the LED button to get various LED patterns.

Encoder Configuration

[ LAB2: ] This lab is a encoder configuration in which will allow a user to interact with the encoders through PUTTY. The user can obtain position and delta data and collect data for 30 seconds.

Motor Configuration

[ LAB3: ] This lab is a motor configuration which is built off from lab2.The user will be able to interact with the motors and encoders through the putty window. This will allow the user to collect speed, postion data and set the duty cycle of the motors.

Motor Speed Controller

[ LAB4: ] This a speed controller of a motor equipped with an ecnoder. This lab is heavily built from lab 3. The speed controller will allow users to set a gain, and desired speed of the motor through a putty window. From there the motor regulates it's speed through the data given from the encoder.

I2C Driver

This lab is a driver for the I2C. the I2C is a device that can measure accleration, displacement, and magnetic fields. This driver allows us to obtain the data by writing instructions to the I2C and reading information from the I2C and then converting that data to digital information. [ Lab_5: ]

0x02 & 0x03

This homework assignment I work through deriving the state equations of motion for the term project which is a platform balancing a ball. Once they equation are derived then linerize them to get our final matrices for our state space which is then used to simulate the model for an open and closed loop model. The report can be seen here [ Report: ]

Term_Project

This is the term project for the ME-305 class. The project was to balance a ball on a plat form using two motors, internal measurement unit and resistive touch pad. These pieces of hardware were capable of recording the angles of the platform and location of the ball on the platform. From that we created a speed controller to zero the platform to realtivly zero angle and attempt to balance the ball. Our progress is detailed in our report which is linked here: [ Term_Project: ]