Abstract
This chapter-long project acts as a “capstone” project for the book, incorporating many of the PIC32 software and motor control concepts introduced throughout the book. The chapter leads the reader through the development of a professional embedded motor control system. At the end of the chapter, the reader will have developed a MATLAB interface to the PIC32 that allows the user to control the motion of a DC motor carrying an inertial load (a bar). The interface allows the user to read the current flowing through the motor; read the motor’s encoder; directly set a PWM duty cycle; set the control gains for the inner-loop current controller; set the control gains for the outer-loop motion controller; plot the step response of the current controller; and load, execute, and plot the performance of the motion controller in tracking a commanded trajectory.
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