44 lines
1.3 KiB
Markdown
44 lines
1.3 KiB
Markdown
# EV5_Modcon
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Everything for the EE HU Semester 5 Modelling and Control course
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# Simulation
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The inverted pendulum system has been simulated in Python using pygame.
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## Running simulator
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1. Open the venv:
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```bash
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$ ./.venv/Scripts/Activate
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```
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2. Start the script
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```bash
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$ python3 ./src/sim/sim.py
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```
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3. The script can be controlled using the following commands:
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| Key | Purpose |
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| --------- | --------------------- |
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| Esc | Exit |
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| Space | Reset simulation |
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| P | Pause simulation |
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| G | Show debugging graphs |
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| C | Toggle PID Control |
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| A / Left | Accelerate cart left |
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| D / Right | Accelerate cart right |
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# Hardware
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A robot has been built using LEGO EV3 to show the simulated system in action.
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## Connections to EV3 required
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- Large motor on port B
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- Large motor on port C
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- Gyro-sensor on port 2
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## Connecting to EV3
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Connect either via WiFi, USB or Bluetooth. Do note that connecting via USB or Bluetooth does not provide the EV3 with an internet connection so updating packages is not possible.
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## Compiling C++
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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/]
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