Embedded Ball-and-Plate Control on dsPIC33F

A real-time PD controller on a dsPIC33F microcontroller that steers a ball along a circular path on a tilting plate, written at the register level and validated on real hardware.

dsPIC33F
Embedded C
PD Control
PWM/ADC

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What I built

A closed-loop PD controller for circular trajectory tracking of the ball.
Low-level embedded software using registers, interrupts, and ADC-based sensing of the ball position.
PWM actuation of the two servo motors that tilt the plate.

Result

Validated on real hardware, with stable circular trajectory tracking under real-time constraints.

More work

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