Ball on Wheel
The "ball" is a mouse ball that is balanced on a Plexiglas wheel. The position of the ball is controlled by a triangulating optical sensor. This delivers a new position value every 20ms. The closed loop control was realized with CoDeSys and runs on the RTTB. A motor with an I-sensor is responsible for driving the wheel.
The visualization was also created with CoDeSys and runs on a PC. The coupling for the control on the RTTB is made via a Ethernet connection.