Design/Testing Validation
Our final results, shown by the waveform graphs and digital indicator of position, prove that our project was successful. The current position of the ball stayed within a 3 pixel range of the desired position.
When looking at the square path waveform graphs, there is slight overshoot, but the control quickly corrects it. Overall, our control system was robust and stable. It could respond well to disturbances and provide the needed corrections. The system was still able to respond​ ​correctly​ ​even​ ​when​ ​the​ ​ball​ ​was​ ​spinning​ ​or​ ​tossed​ ​onto​ ​the​ ​plate.
Waveform Plots
Square Path
Circle Path
Figure 8 Path
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With this project, we demonstrated the effectiveness of integrating software with a physical mechanical system to solve a balancing problem combined with path generation. The LabVIEW image processing module successfully processed the image inputs from the webcam in real time and ran in parallel with the servo actuation of the plate. We also designed an intuitive GUI that provides the user with a live feed of the ball on the maze, stored data, and easy control of starting and stopping the machine.
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