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furuta_pendulum

TODOs

  • get pydrake 2D lqr cartpole running by itself
  • get pydrake 2D cartpole w/ energy shaping state machine + lqr
  • start to transfer over to moteus conversion w/ physical furuta pendulum

NOTES

  • 0 position for motor is with the pendulum shaft in front of the weight self
    • d rezero 0
  • 0 encoder position for pendulum is upright, with +-0.5 being downward
    • in sys model it's np.pi is upright
  • needed to do 'sudo chmod 666 /dev/ttyACM0' to not need sudo for moteus so that pydrake and moteus can run in same script

furuta_pendulum's People

Contributors

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