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To made our Beam & Ball
We used a infrared sharp sensor GP2D120 that has a range of 4 -30 cm
To make the control of the Beam and Ball We use a microcontroller Arduin Uno
And an H-Brdge that is in the Arduino Motor Shield
We used a Pololu Micro Metal Gearmotor with a relation of 298:1 and has a torque of 3 Kg
To make the stucture, We used Lego Education Kit
To stabilize the Beam & Ball, We used a PD Control
The first thing in the code is to Know the position of the ball and calculate the error
P=Error x (KP Proportional Constant ) D=(Error - last_error) x (KD Derivative Constant) Result = P + D
With the result We determine the direction of the motor and the speed.with the help of PWM pulse