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Stella, the Nucleus powered, self-balancing robot

So, what sorts of things can you create with Mentor Graphics’ embedded software development tools and platforms?  How about a self-balancing robot named Stella?  The Nucleus ReadyStart development platform, which includes the Nucleus RTOS, Sourcery CodeBench IDE and toolchain and Sourcery Analyzer performance and analysis tool, was used in the development of Stella.

Stella the robot is an inherently unstable, inverted pendulum system; a classic problem in dynamics and control theory.  Stella implements a proportional-integral-derivative or PID control loop, commonly found in industrial control applications.

In this brief five part video series, we’ll cover:

1. Stella’s engineering principles, and the hardware and software stack.

2. Mentor Graphics’ software development tools and platforms used to develop Stella.

3. Trace generation from the Nucleus RTOS and Stella’s instrumented application layer.  Trace download and analysis using Sourcery Analyzer.  Sourcery Analyzer’s timeline zoom and cursor tools are used to calculate interrupt latency.

4. Sourcery Analyzer’s measurement and calculator tools detect and explore wheel angle bias, a subtle bug in Stella not previously seen without the use of Sourcery Analyzer.

5. Arvind Raghuraman, staff engineer on the Nucleus RTOS team, and creator of Stella, will give a brief tour of Stella’s relevant application layer variables using Sourcery Analyzer.

If you would like to try Mentor Graphics’ embedded software platforms and development tools, visit our product evaluation pages:

Questions?  Drop into the Sourcery Tools forum and ask.

wheel angle bias, trace analysis, code instrumentation, Sourcery Analyzer, control systems, stella, Trace, application layer, ReadyStart, interrupt latency, robot, inverted pendulum, RTOS, Embedded, software development, Nucleus, JTAG, PID, Wireless, Zigbee

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About Ricardo Anguiano Follow on Twitter

Ricardo AnguianoRicardo Anguiano is a Technical Marketing Engineer working in the Embedded Software Division of Mentor Graphics. He has a master's degree in computer science from UC Davis. When not writing about embedded software development tools and platforms, you can find him on a bicycle or playing guitar. He is based in Northern California. Visit Embedded Blog

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