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by klysm
580 days ago
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Did the mathematical model being used have a differentiable heigh function? I’m imagining it would be the simplest if it didn’t but that could cause problems in the electronics. Also what components did you have access to, just op amps? |
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- To get position, 2 integrators were applied to an adjustable voltage representing gravity.
- The FETs were used to set initial states of the integrators.
- A comparator used to detect the table (y=0), flip the velocity and apply a scaling factor for restitution
The math was actually quite simple given its just the standard velocity equations — the challenge was in handling state changes in the electronics.
I looked around a little more and this video is a very close replica of what we built: https://www.youtube.com/watch?v=qt6RVrmvh-o