Real-Time Python: Recent Advances in the Raspberry Pi Plus Arduino Real-Time Control Approach

Real-time Python refers to using Python in real-time feedback control experiments by combining an Arduino microcontroller with a computer. This paper uses a Raspberry Pi to improve upon a previous method that combined a laptop and an Arduino. The primary improvement is switching from serial to i²c for communication between the Arduino and Python, which significantly reduces the latency in communications. The reduction in latency allows the digital control frequency to increase from 200 Hz to 500 Hz. The latency improvements are verified by oscilloscope measurements. The new i²c based approach is applied to vibration suppression control for a 3D printed beam.