Freescale microcontroller MC9S12XS128 an inverted pendulum, which are explained in detail, and basically has a comment. Machine, comprising: a DC motor, a potentiometer for detecting the pendulum angle, a two-phase encoder feedback corner. The software uses four times the encoder, the original encoder 1000 lines into 4000 lines, inverted pendulum control cycle positioning 10ms, can be changed, the experiment to achieve the purpose of balance control, but not completed on rejection, need hand the pendulum put straight, and then start the microcontroller, experiment, microcontroller 30 degrees balance control the selected motor imaginary bit control when shaking.

--------------_Data\CWSettingsWindows.stg
...................\Standard\TargetDataWindows.tdt
...................\........\ObjectCode\MC9S12XS128.c.o
...................\........\..........\main.c.o
...................\........\..........\datapage.c.o
...................\........\..........\Start12.c.o
bin\Project.map
...\Project.abs
...\Project.abs.glo
...\Project.abs.s19
cmd\Full_Chip_Simulation_SetCPU.cmd
...\Full_Chip_Simulation_Startup.cmd
...\Full_Chip_Simulation_Preload.cmd
...\Full_Chip_Simulation_Postload.cmd
...\Full_Chip_Simulation_Reset.cmd
...\TBDML_Erase_unsecure_hcs12xe.cmd
...\TBDML_Vppon.cmd
...\TBDML_Vppoff.cmd
...\TBDML_Startup.cmd
...\TBDML_Preload.cmd
...\TBDML_Postload.cmd
...\TBDML_Reset.cmd
prm\Project.prm
...\burner.bbl
Project_Data\CWSettingsWindows.stg
............\Standard\TargetDataWindows.tdt
............\........\ObjectCode\MC9S12XS128.c.o
............\........\..........\main.c.o
............\........\..........\datapage.c.o
............\........\..........\Start12.c.o
Sources\datapage.c
.......\Start12.c
.......\main.c
.......\derivative.h
环形倒立摆程序.mcp
C_Layout.hwl
Default.mem
Full_Chip_Simulation.ini
TBDML.ini
--------------_Data\Standard\ObjectCode
Project_Data\Standard\ObjectCode
--------------_Data\Standard
Project_Data\Standard
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bin
cmd
prm
Project_Data
Sources

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