Řízení polohy kuličky na naklápěcím stole pomocí minipočítače UDOO Neo

Abstract

This thesis deals with control of ball position on a balancing table. Position is detected by a resistive touch surface and is influenced by tilting table’s desk using two servomotors. Ball is stabilized after its deflection by external force. It can also be moved to any location on the balancing desk, where this location can be selected in GUI application. For control is used UDOO Neo minicomputer, whose processor contains two asymmetric cores. Program running on ARM M4 core, consisting from FreeRTOS and developed algorithms, detect ball’s position and controls balancing desk. Linux operating system is running on ARM A9 core. This system runs an application that provides user interface. Application on A9 core and program on M4 core communicate with each other using the RPMsg protocol. As part of thesis, a script has also been developed that automatically builds all the software components of thesis with the help of Buildroot tool.