FurutaFuzzy

DSPICfuruta implement a Fuzzy logic controller for a Furuta pendulum.
The follow pieces compose the Furuta pendulum:
- Base: ground-fixed, amovible.
- Arm: connect to base by hinge joint, the torque is applied on arm.
- Rod: connect to arm and free to rotate.
The goal is position the Rod upper in equilibrum.
The controller have 2 input:
- angle of rod
- angular velocity of rod
The output controller is the arm torque value (PWM->current on external motor).
The FuzzyFuruta project include also DSPICfuruta (firmware for dsPIC) and a simulator for Furuta pendulum for develope and test the firmware DSPICfuruta.