Pendulum

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How we set it up

1. Log in on PC 1 (East of the room from entrance door)

   Username: .\microcart
   Password:  microcart

2. Open tracking tools project: Computer\Dtapart(D:)\Optitrack_configuration\1D_Pendulum (Choose the more recent project)

3. open Desktop/omnicoor/omnicoor/Pendulum/ directory on PC 2 (Right from the whiteboard)

4. Make sure the FPGA is turn on and DX-6 transmitter is on and attached to the FPGA.

5. On the Pendulum check the receiver is powered by a 7.1 battery and the propeller system powered by the voltage source/3S battery.

6.go to PC 2 and execute the ./quadPWM program

The diagram below gives a detailed description of the software/hardware on the pendulum system.


Data Plots

1) The following is a pitch vs time graph of the pendulum using the camera system. If by any reason a plot is getting considerable more noise that this graph you might need to check the camera configuration and the constellation of the IR balls.

rollTest.png

2) The following is a graph that represents the period between the times of new camera system samples.(Logged camera system latency) As can be seen, every packet is received in an average of ~10.2 ms.

3.jpg

3) The following is a graph that represents the interval of incoming packets received by the software on the ground station (new data coming). As can be seen, every packet is received in an average of ~10.4 ms.

2.jpg


4) The following is a graph that represents the interval of incoming packets received by the software on the ground station (new data coming). As can be seen, every packet is received in an average of ~10.4 ms.

compTime.png