GitHub - dgenin/inverted-pendulum: Raspberry Pi baremetal driver for an inverted pendulum setup based on Deskjet 960 carriage hardware

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Raspberry Pi baremetal driver for an inverted pendulum setup based on Deskjet 960 carriage hardware

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Name		Name	Last commit message	Last commit date
Latest commit History 26 Commits
LICENSE		LICENSE
Makefile		Makefile
README		README
cli.c		cli.c
cli.h		cli.h
dev_mem_map.h		dev_mem_map.h
driver.c		driver.c
driver.h		driver.h
dummy_syscall.c		dummy_syscall.c
i2c.h		i2c.h
memmap		memmap
memmap.old		memmap.old
motor.c		motor.c
pwm.h		pwm.h
uart.h		uart.h
vectors.s		vectors.s
vectors.s.old		vectors.s.old

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This is a baremetal implementation of inverted pendulum driver for Raspberry Pi A+. The inverted pendulum base is constructed on Epson Deskjet 960c carriage mechanism and utilizes the original optical encoder strip and the motor and belt mechanism.

The code for UART and interrupt handling is borrowed from David Welches excellent Raspberry Pi example repository https://github.com/dwelch67/stm32f0d. Thank you David!