Goldsmiths

2013-03-18 10:51:33 +00:00
parent d938b31e91
commit 05fc0c94af
38 changed files with 152 additions and 1544 deletions
@@ -1,34 +0,0 @@
-//"Pulse" - small duration positive then negative force 
-// parameters: F1, T1, D1, F2, T2, D2
-
-#define BIT_DEPTH 12
-
-#include <Motor.h>
-#include <Music.h>
-
-void setup(){
-  MotorB.init();
-  Music.init();
-  
-  Music.setWaveform(SINE);
-  Music.enableEnvelope();
-  Music.setAttack(10);
-  Music.setDecay(10);
-  Music.setRelease(10);
-}
-
-void loop(){
-  //for (int i; i < 512; i + 100){
-    MotorB.torque(40);
-    Music.noteOn(map(analogRead(A3),0,1023,30,60));
-    delay (20);
-    Music.noteOff();MotorB.torque(0);
-    delay (150);
-    MotorB.torque(-70);
-    Music.noteOn(map(analogRead(A3),0,1023,35,65));
-    delay (40);
-    Music.noteOff();MotorB.torque(0);
-    MotorB.torque(0);
-    delay (750);
-  //}
-}
@@ -0,0 +1,12 @@
+#include <Motor.h>
+
+void setup() {
+  MotorA.init();
+}
+
+void loop() {
+  MotorA.torque(500);
+  delay(2000);
+  MotorA.torque(-500);
+  delay(2000);
+}
@@ -0,0 +1,67 @@
+
+#include <Motion.h>
+#include <Motor.h>
+
+#define NEW '!'
+#define OK '*'
+#define PRINT '&'
+
+int table[800];
+int len = 800;
+
+char buf[32] = "";
+int cnt = 0;
+
+void setup() {
+  Serial.begin(9600);
+  MotorA.init();
+  MotionA.init(INPUTA0);
+}
+
+void loop() {  
+  MotionA.update_position();
+  int i = (int) (((float) MotionA.Xin / 1023.0) * len);
+  int f = table[i];
+  MotorA.torque(f);
+  
+  // TODO - send position back to interface
+  /* 
+  cnt++;
+  if(cnt == 1000) {
+    sprintf(buf, "%d %d %d", MotionA.Xin, i, f);
+    Serial.println(buf);
+    cnt = 0;
+  }
+  */
+}
+
+
+void serialEvent() {
+  
+  if(Serial.available()) {
+    char in = (char)Serial.read();
+    if(in == NEW) {
+      Serial.print(OK);
+      len = serial_read();
+      for(int i = 0; i < len; i++) {
+        table[i] = serial_read();  
+      }
+    } else if(in == PRINT) {
+      Serial.println(len);
+      for(int i = 0; i < len; i++) {        
+        Serial.print(table[i]);
+        Serial.print(';');
+      }
+      Serial.print('#');
+    }
+  }  
+}
+
+
+int serial_read() {
+  while(Serial.available() < 2);
+  int l = Serial.read();
+  int h = Serial.read();
+  Serial.write(OK);
+  return (h * 256) + l;          
+}