Ball balancing on a Spool

This folder contains the source files for the demonstration project on using REXYGEN on the Raspberry Pi minicomputer with the Monarco HAT add-on board. It illustrates what can be achieved with the Monarco HAT and its high-speed analog inputs and outputs.

The Monarco HAT is configured to act as a controller of a ball balancing on a spool.

Timing of the project

The algorithm runs each 5 milliseconds (0.005 s). See the EXEC function block,
tick x ntick0 = 0.005 x 1 = 0.005 s.

Prerequisites

• REXYGEN Runtime Core and MonarcoDrv modules must be installed and running on the Raspberry Pi.

Running the example

• The *exec.mdl file is the project main file, open it with REXYGEN Studio.
• Compile and download the project to the target device.
• Switch to Watch mode and observe the algorithm (use Target->Watch Selection to display real-time data).

Documentation

• Press F1 for help on the selected function block in the REXYGEN Studio.
• Getting started with REXYGEN and Monarco HAT (Raspberry Pi)
• MonarcoDrv - Monarco HAT driver
• REXYGEN Studio User Guide
• Function blocks of REXYGEN

Additional information

• YouTube demonstration video.
• Visit the Monarco HAT website.
• Raspberry Pi is a trademark of the Raspberry Pi Foundation.
• Visit the REXYGEN webpage for more information about the example projects and developing advanced automation and control solutions using REXYGEN.