created new center example

2013-01-25 11:13:57 +01:00
parent 769578fcf7
commit 0f8eb0f54d
13 changed files with 47 additions and 527 deletions
@@ -0,0 +1,44 @@
+//Center
+//uses a variable force (pwm duty)
+//If it feels like a mountain - pushing away from center, then
+//reverse the motor leads
+//or for a quick fix in the code: change if(f < 0) to if (f > 0)
+
+#include "Motor.h"
+#include "Music.h"
+
+int posA, posB;    // position from analogRead
+int forceA, forceB;  // computed from pos and k
+int kA = 2;  // spring constant
+int kB = 2;  // spring constant
+//int duty;   // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
+ 
+void setup() 
+{
+  MotorA.init();
+  Music.init();  
+  Music.setWaveform(0); // only works with 8bit waveforms
+}
+
+void loop() 
+{
+
+  posA = analogRead(A0);
+  posB = analogRead(A3);
+  
+  Music.setFrequency1(posA);
+  Music.setFrequency2(posB);
+  
+  forceA = - kA * (512 - posA);
+  forceB = kB * (512 - posB);
+  //duty = abs(force);
+  //duty = min(512, duty);
+  
+  MotorA.torque(forceA);
+  MotorB.torque(forceB);
+  
+  //if(force < 0) MotorA.direction(FORWARD);
+  //else MotorA.direction(BACKWARD);
+    
+}
+