README

README.MD

@@ -1,6 +1,35 @@
 # EV5_Modcon
 Everything for the EE HU Semester 5 Modelling and Control course
 
+![Screenshot](res/screenshot1.png)
+
+# Simulation
+The inverted pendulum system has been simulated in Python using pygame. 
+
+## Running simulator
+1. Open the venv:
+```bash
+$ ./.venv/Scripts/Activate
+```
+2. Start the script
+```bash
+$ python3 ./src/sim/sim.py
+```
+3. The script can be controlled using the following commands:
+
+| Key       | Purpose               |
+| --------- | --------------------- |
+| Esc       | Exit                  |
+| Space     | Reset simulation      |
+| P         | Pause simulation      |
+| G         | Show debugging graphs |
+| C         | Toggle PID Control    |
+| A / Left  | Accelerate cart left  |
+| D / Right | Accelerate cart right |
+
+# Hardware
+A robot has been built using LEGO EV3 to show the simulated system in action. 
+
 ## Connections to EV3 required
 - Large motor on port B
 - Large motor on port C
@@ -12,5 +41,3 @@ Connect either via WiFi, USB or Bluetooth. Do note that connecting via USB or Bl
 ## Compiling C++
 Compiling C or C++ requires a Docker installation of the compiler following (this guide)[https://www.ev3dev.org/docs/tutorials/using-docker-to-cross-compile/]
 
-## Running Python Code
-TODO

src/sim/pendulum.py

@@ -50,7 +50,7 @@ class Pendulum:
     def update(self, dt):
         self.doMath(dt)
         self.vector = Vector2.from_polar(
-            ((self.length * C_MTPRATIO), math.degrees(self.theta[self.index] + (1.5 * math.pi)))
+            ((self.length * C_MTPRATIO), math.degrees(self.theta[self.index] - (0.5 * math.pi)))
         )
 
         if abs(self.theta[self.index]) == C_FALL_ANG: