Control and Sensor System (CASSy)

A Vex-based Mobile Robot for testing control concepts.

 

Top view of CASSY mobile robot.

Communications Test program

Yaw Rate Test Program

Encoder Test Program

PID Control Program

Linux Communications Program

Matlab Simulation of CASSY

Instructions for Fabricating CASSY

Instructions for Fabricating CASSY Custom Circuit Board

Video of Inverted Pendulum

Engineering Drawings for Parts to be Fabricated

Encoder Shaft

Encoder Plate

Potentiometer Mount

Potentiometer Driver