Mode Operation
How Does each mode work?
Manual Mode: Tranlates users' movment of the joystick into
PWM signals for the H-bridge Motor Driver.
Semi Auto Mode: Whenever the user is not moving the
joystick, a PID controller will take over and
compensate for the pendulum's swing.
Saftey Features
Endstop Switches: Prevent the Cart from hitting the frame of
the crane, whenever one of the switches located on the ends of the cart's track
is pressed, it will not allow the cart to move in that direction anymore, only
in the opposite direction from that switch. This prevents the user and the PID
loop from hitting the edges of the crane.
Project Expansion
- A Automatic mode could be implemented which would use two PID loops in
order to control both the cart position and keep the pendulum from swinging
- Create A plot to visualize all the parts of the PID, the Potential,
Integral, and Derivative over time.
- Allow the PID to be tuned in the user interface in order to show how
changing the control gains will change the behaviour of the system
- 2D or 3D crane travel, by giving the crane another axis of travel so it
can move forward, backward left and right will increase the number of
controls required but make a much more realistic system
- Using a cable instead of a rod will make it more difficult to sense at
what angle the load is, and it will invite the possibilty of the load moving
in all directions. New sensors may be required to make this system but it
will be far more realistic.