Step 7 continued
Ĕ Stop the VI by pressing the “Stop” button below the Min/Max calibration menu
Ĕ Right click the edge of the “Offset” control, select “Data Operations”, and select “Make Current Value default”
Ĕ Save the VI
7.9. Use the slider control on the left side to move the position setpoint to 20 percent of the arm, and notice:
• In the graph, the blue line indicates the setpoint, and the red line indicates the current position of the ball
• After the setpoint is set, the ball will oscillate back and forth across the set point until it finally settles
7.10. Gently roll the ball away from the set position, let go, and notice the system move the ball back to the original set
point
7.11. Move the set point to other locations, allow the ball to settle, and notice:
• The setpoint gradually changes to improve stability
• As the ball moves further away from the IR range sensor, the control system is less stable due to IR range sensor noise
Step 8: Troubleshooting
If your Balance Arm is unstable:
8.1. Make sure the table you’re working on is flat and stable
8.2. Make sure both myRIO and the battery are secured to the system, as their weight assist with stability
8.3. Check that the IR sensor is centered on the rail
8.4. Turn the ball so that its seam is parallel to the rails
8.5. Redo steps 7.7 and 7.8
Next Steps
• Learn about how the Balance Arm relates to control theory in the next section
• Get some ideas for expanding the Balance Arm on the first page of this section
Balancing Arm Assembly 119
Balancing Arm Assembly 119
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