Key platform components and recommended workflow for the rotary inverted pendulum laboratory.
Rotary inverted pendulum system with STM32F446RE MCU, TB6612FNG motor driver, DC motor, potentiometer, incremental encoder, 12V power input, and PC serial logging.
Embedded firmware development on STM32, Python-based data logging and analysis, and reinforcement learning pipelines for simulation and policy deployment.
Before applying motor power, verify VM, VCC, GND, PWMA, AIN1, AIN2, STBY, sensor power, and ensure all grounds are properly connected.
Encoder A/B phase signals are used for direction detection. Potentiometer readings are calibrated into angular position estimates for control.