General information

In this laboratory exercise, you will control a rotating servo by using a real microcontroller. You will also get some experience of how to perform fixed-point arithmetic in C. Please note the preparatory exercises.

Material

Manual (updated February 22 2023)
To plot angular position, angular velocity and the control signal: Opcom.zip
Code skeleton for all four implementations: DCservo.c (updated February 22 2023)

Preparations

Review Lecture 12 (on computer arithmetic)
Review Problem Solving Exercise P4 (on design of state feedback and observers in MATLAB)
Review Problem Solving Exercise P5 (on fixed-point arithmetic)
Study the manual and code skeleton carefully, make sure you understand the structure of the program
Solve the Preparatory Assignments 1, 3, 5, 6 and 8

Signup

You register for the lab using this lab enrollment link.

Contact

For all questions regarding lab instructions, submission or bugs, refer to either:

Canvas Discussions (discuss high level concepts rather than ask for solutions to the lab questions)
Max (max.nyberg_carlsson@control.lth.se)