Development of a control experiment support system for small movable objects using PIC

In this paper, we consider a control experiment support system (CESS) to develop control systems efficiently for small movable objects. For controlling small movable objects, small-sized and low price microcomputers such as PICs are often used. However, due to memory and speed limitation of microcomputers, control system programs are rewritten, compiled and reloaded every time a controller is redesigned, and evaluation processes are inefficient. Hence, considering the restriction of PICs and the efficiency of controller evaluation processes, we develop a control system program for PICs by which controllers can be replaced easily and experiment operation can be controlled remotely through the wireless serial communication. Finally, the performance of the control system program and the efficiency of the controller evaluation processes by using the CESS are examined through some control experiments.