vision based inverted pendulum

Other Hardware Robotics
1

hi, currently im doing this project about balancing 3D inverted pendulum using web-camera on a moving cart . I'm on the implementation stage at the moment and would like to use arduino uno (all the modeling and simulation have been done in matlab simulink). so far i used openCV in C++ to measure the angle tilted by the pendulum and arduino uno to do the control (PID) .

problems

  1. how can i interface between C++ and arduino (read the angle from C++)
  2. is arduino uno capable of doing the PID calculations
  3. in my design , the output should be the speed of the motors and position of the cart . how can I archive this in arduino ? would i need to implement two pid function
  4. do i need to implement filter(kalman ) in the control..? as i have already implement one in the vision code (C++)

thanks in advanced

2
  1. See InterfacingWithSoftware for plenty of examples.
  2. Arduino Playground - PIDLibrary
  3. The balance is controlled by the PID; the position is just a command. I don't see how you'd control the position with a PID.
  4. I don't think so.