A motor control project with the PIC32 (Matt Elwin)

For more information, see nu32.org. This video is a supplement to the book "Embedded Computing and Mechatronics with the PIC32 Microcontroller," Lynch, Marchuk, and Elwin. It is part of Northwestern University's ME 333 Introduction to Mechatronics.
This video demonstrates the final result of the project in Chapter 28 of "Embedded Computing and Mechatronics with the PIC32 Microcontroller." The client, written in MATLAB, communicates with the PIC32 on the NU32 development board via serial port, sending control gains and desired setpoints and motion trajectories, and tracking results are sent back to the MATLAB client for plotting. The PIC32 manages a nested control loop system consisting of a PID outer motion control loop and a high-speed PI inner current (torque) control loop.