The main part of the programming of the Smart Balance project of the rotation system was written with the QT Framework in the C++ language. The control system in this project is designed so that the interface modules receive analog and digital signals from the system and, after initial processing, send this information to the central control unit or, in other words, to the core board area.

To better understand this project, I recommend that you first look at the related projects number 1 & 2 & 3.

Special techniques were used in the program part of the project. For example, 180 pulses per revolution are generated in the encoder part of the device, or in other words, the encoder generates pulses of 2 degrees. In the previous explanations of the project, it was mentioned that one of the goals of this project is to generate a controllable force at desired rotation angles. Let us assume that the system rotates at a speed of 10 revolutions per second. In this case, the control and electronics section of the device together with the project programming section must be able to generate and send the signals generated by 2-degree pulses to the core board with high accuracy at all times and send the generated responses to the actuators.