Vermes
Advanced Member level 4
It is a simple inverted pendulum made of HP inkjet printer. The driver is based on controller Atmega8, because of the adc converter. A potentiometer, which acts as a voltage divider, was used as the pendulum tilt sensor.
The program written in Bascom performs the function of the PID controller. The pendulum drives a DC motor, which was originally built in the printer. Its control system is L293, which is connected so as to have more current capacity. PWM is used to control the speed. Additionally there is also voltage converter for RS232 and interface for transmission on the driver board.
Boards were made in thermal transfer method.
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Link to original thread (useful attachment) – Model odwróconego wahadła