FurutaPendulums

This package implements the AbstractControlProcesses interface to provide connections to both the physical furuta pendulum as well as a simulated version of it.

Installation

First you need moberg installed and configured on your computer.

After that, to install this package run

import Pkg
Pkg.add(url="https://github.com/ControlLTH/FurutaPendulums.jl")

Usage

using FurutaPendulums
furuta = FurutaPendulum() # or SimulatedFurutaPendulum()
# Initialize time for periodic stepping to work both with simulated and physical process
last_time = periodic_wait(furuta, 0, 0) 

K = ...

dt = 0.01
for i in 1:1000
    x = measure(furuta)
    # Calculate control signal
    u = -K*x
    control(furuta, u)

    last_time = periodic_wait(furuta, last_time, dt)
end