Hi all,

There are two movies about the controller I've made in this link.
Let me say thanks for the support received from this list, in one or another
way.

www.geocities.com/proyectosenpic

All the page is in Spanish, but more or less is this:

1.- The control uses  a PIC 16F873
2.- Uses two potentiometers, one for the pendulum, the other for the arm
3.- The pend. pot. is restricted to =B115=BA and converted to a 0 to 1024 A=
DC
    steps.
4.- The motor is controlled with PWM.(Scalectrix 12VDC motor)
5.- There is a PID in the PIC to control the pendulum, nested into a
    proportional controller which controls the arm.
6.- A VB program receives at 115Kpbs the two pot. status circa 20ms.
7.- The VB program can changes Kp, Ki, Kd and Kx(arm), "on the fly".
8.- I'm not Almodovar, so that movies are the best I can do. :)

Any suggestions are appreciated,

Regards,
Dennis Crawley




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