This page contains information about the Lab 3 assignment.

Finite State Machine Dagrams

Lab 3 taskEncoder diagram
Lab 3 taskMotor diagram
Lab 3 taskUser diagram

Task Diagrams

Lab 3 task diagram

Plot of Encoder Position vs Time

By pressing 'g' on the keyboard, we recorded 30 seconds of encoder position data. During the 30 second collection period, we varied the Motor 1 duty cycle. An output of the encoder position vs. time is shown here.
encoder position vs time

Motor Speed at Varying Duty Cycles

Using our user interface, we recorded the motor speed in radians/second at various duty cycle values. We noted that the direction of the encoder is flipped from our motor direction, but this could be remedied through software or through reversing the leads on the hardware, and we decided to leave it untouched for now as to not cause unforseen complications with later development.
speeds of encoder at various duty cycles

Author: Chris Linthacum; Caleb Savard

Date: February 17, 2022