64 lines
1.4 KiB
Arduino
64 lines
1.4 KiB
Arduino
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// "Pendulum" - spring-mass oscillator
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#include <Motion.h>
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#include <Motor.h>
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byte incomingByte;
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void setup()
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{
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// init MotionA & MotorA
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MotionA.init(INPUTA0);
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MotorA.init();
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// provide MotionA with initial physics constants
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MotionA.k = 0.2f; // spring
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MotionA.m = 0.3f; // mass
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MotionA.d = 0.02f; // damping
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Serial.begin(9600);
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}
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void loop(){
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if(MotionA.F < 0) MotorA.direction(FORWARD);
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else MotorA.direction(BACKWARD);
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float t = abs(MotionA.F);
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//if(t > 512) t = 512;
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//MotorA.torque(t);
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if (Serial.available() > 0) {
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incomingByte = Serial.read();
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if(incomingByte == '1'){
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MotionA.m = MotionA.m * 1.1;
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Serial.print("m: ");
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Serial.println(MotionA.m);
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}
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else if(incomingByte == '!'){
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MotionA.m = MotionA.m / 1.1;
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Serial.print("m: ");
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Serial.println(MotionA.m);
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}
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else if(incomingByte == '2'){
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MotionA.k = MotionA.k * 1.1;
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Serial.print("k: ");
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Serial.println(MotionA.k);
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}
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else if(incomingByte == '@'){
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MotionA.k = MotionA.k / 1.1;
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Serial.print("k: ");
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Serial.println(MotionA.k);
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}
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else if(incomingByte == '3'){
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MotionA.d = MotionA.d * 1.1;
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Serial.print("d: ");
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Serial.println(MotionA.d);
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}
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else if(incomingByte == '#'){
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MotionA.d = MotionA.d / 1.1;
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Serial.print("d: ");
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Serial.println(MotionA.d);
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}
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}
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}
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