Automatic Balancing Device using PIC16F13145 and the CLB

This project aimed to use an ultrasonic sensor and servo to keep a ball centered on the channel using PID control. This would be done in MCC using the Configurable Logic Block feature recently added to the PIC16. A detailed report can be found in the attachments.

Overall, the CLB feature for this PIC was very intuitive for low level features. It removes the need to interact with registers directly and instead gives the user a clean GUI where everything is explained simply logically. Using the CLB also enables the device to operate in real time and remove delays from external controls. This is ideal for a PID controller, where other code may be running simultaneously to the motor control system.

Due to time constraints, this project did not achieve its aim. However, using the CLB and a PIC microcontroller has been very educational.