Introduction to Mechatronics Project (Motor Controller)

As part of the Introduction to Mechatronics Course at Northwestern University, I implemented feedback control on a motor with a user interface that allows input and execution of a desired motor trajectory. The results are then sent back to a PC for plotting. In the video above, I demonstrate the capbility of the final system. I also demonstrate how I use graphical depiction of the error present in the current sent to the motor as well as the motor position to empirical tune gains for the current and motion controller respectively until a satisfactory performance is reached. The Control Diagram is included above.