Furuta Pendulum Simulation from Arduino -> Physics

This project shows how you can build an entire robot in simulation, and code it in Arduino to test and verify your design.

Getting Started

Prerequisite

1. Clone the gorilla-physics and avr8rs project to the same parent directory as this project.

2. Build the gorilla-physics visualization typescript lib:

• cd gorilla-physics/www
• npm install rimraf and npm install typescript
• npm run build and npm run build:lib

Run the simulation

change directory to www:

cd www

(install rimraf: npm install rimraf)

and then run the project (i.e. the local dev server):

npm run start

A browser tab should open and show the robot moving.

Update the Arduino code for the simulation

update the arduino/furuta/furuta.ino file as you wish.

Compile the Arduino code:

./build.sh furuta

Now the simulation should be running the updated controller code.

References

Substack post detailing the project.

This project depends on the following two projects:

Arduino simulator that runs the Arduino code: AVR8rs

Physics engine that simulates the robot: Gorilla Physics