Bill Examples

M&MStudioBV
2013-02-05 19:01:35 +01:00
parent a7408c519a
commit 336b2b45ab
42 changed files with 2036 additions and 0 deletions
@@ -0,0 +1,97 @@
+//plucks - four bumps
+//three notes (400,500,600hz)
+//can't get Music.setGain1, etc to work only Music.setGain() starts all of them.
+//requires FSR attached to A
+
+#define NUM_OSCILLATORS 3
+#define BIT_DEPTH 8
+
+#include <Music.h>
+#include <Motor.h>
+
+int x, xold, xt; // input position x, output force F
+float K = 20; // slope constant
+byte count; //for print count-down
+float fin; // scaled to be 0.0 - 1.0
+float fout; // from FSR
+
+void setup(){
+  Music.init();
+  Music.setFrequency1(200);
+  Music.setFrequency2(250);
+  Music.setFrequency3(300);
+  
+  //FSR-A
+  pinMode(A1,INPUT);
+  digitalWrite(A1,HIGH); //set pull-up
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+  //FSR-B
+  pinMode(A4,INPUT);
+  digitalWrite(A4,HIGH); //set pull-up
+  pinMode(5,OUTPUT);
+  digitalWrite(5,LOW);
+  
+  Serial.begin(9600);
+  
+  MotorA.init();
+  
+  Serial.begin(9600);
+  x = analogRead(A0); // initialize x
+}
+
+void loop(){
+  xold = x;
+  x =  analogRead(A0);
+
+// did xold - x include 125, 375, 625, 875?  or x%250 = 125
+
+if (((xold <= 125) && (x > 125)) || ((xold >= 125) && (x < 125))){
+  Music.setGain1(fin*fin);
+  Music.setFrequency1(200);
+}
+if (((xold <= 375) && (x > 375)) || ((xold >= 375) && (x < 375))){
+  Music.setGain2(fin*fin);
+  //Music.setFrequency(250);
+}
+if (((xold <= 625) && (x > 625)) || ((xold >= 625) && (x < 625))){
+  Music.setGain3(fin*fin);
+  //Music.setFrequency(300);
+}
+if (((xold <= 875) && (x > 875)) || ((xold >= 875) && (x < 875))){
+  Music.setGain1(fin*fin);
+  Music.setFrequency1(400);
+  }
+  else{
+    Music.setGain1(0.995f*Music.getGain1());
+    Music.setGain2(0.995f*Music.getGain2());
+    Music.setGain3(0.995f*Music.getGain3());
+  }
+  fin = 1000 - analogRead(A1); // invert and shift
+  fin = max (0, fin); // make sure it's > 0
+  fin = min (1023, fin); // and < 1023
+  fin = fin/1000; // scale 0-1.0
+  fin = fin*fin; //square it for more effect near 1.0.
+  xt = x % 250; //same force for each 250 ranage
+  fout = 0;
+  if (xt > 60) fout = - K * (xt - 60);
+  if (xt > 80) fout = - K * (100 - xt);
+  if (xt > 120) fout =  K * (140 - xt);
+  if (xt > 140) fout = 0;
+  fout = fout * fin;
+  MotorA.torque(fout);
+  
+ 
+ // print every 256 cycles
+  if(count++==0){
+    Serial.print(x);
+    Serial.print(" ");
+    Serial.print(xt);
+    Serial.print(" ");
+    Serial.print(fin);
+    Serial.print(" ");
+    Serial.println(fout);
+  }
+
+}
+    
@@ -0,0 +1,37 @@
+// FSR A and B
+// stick-slip
+
+#include <Motor.h>
+int xA, finA, foutA; //fout gets too big if fout=fin*x;
+float x, fin, fout;
+byte c;
+
+void setup(){
+  //FSR-A
+  pinMode(A1,INPUT);
+  digitalWrite(A1,HIGH); //set pull-up
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+  //FSR-B
+  pinMode(A4,INPUT);
+  digitalWrite(A4,HIGH); //set pull-up
+  pinMode(5,OUTPUT);
+  digitalWrite(5,LOW);
+  
+  //Motors
+  MotorA.init();
+  MotorB.init();
+  
+  Serial.begin(9600);
+}
+void loop(){
+  x = 512 - analogRead(A0); //in:[0,1023] out: [-512,511]
+  fin = 1024 - analogRead(A1); //in:[1023,0] out [0,1023]
+  fout = x*fin/500;
+  MotorA.torque(fout);
+
+  x = 512 - analogRead(A3); //in:[0,1023] out: [-512,511]
+  fin = 1024 - analogRead(A4); //in:[1023,0] out [0,1023]
+  fout = x*fin/500;
+  MotorB.torque(fout);
+}
@@ -0,0 +1,20 @@
+// FSR A and B test
+void setup(){
+  //FSR-A
+  pinMode(A1,INPUT);
+  digitalWrite(A1,HIGH); //set pull-up
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+  //FSR-B
+  pinMode(A4,INPUT);
+  digitalWrite(A4,HIGH); //set pull-up
+  pinMode(5,OUTPUT);
+  digitalWrite(5,LOW);
+  
+  Serial.begin(9600);
+}
+void loop(){
+  Serial.print(analogRead(A1));
+  Serial.print(" ");
+  Serial.println(analogRead(A4));
+}
@@ -0,0 +1,17 @@
+void setup(){
+  pinMode(A1,INPUT);
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW); //sets ground
+  digitalWrite(A1,HIGH); //sets pull-up
+}
+void loop(){
+  digitalWrite(A1,LOW);
+  digitalWrite(4,HIGH);
+  delay(1000);
+  digitalWrite(A1,HIGH);
+  digitalWrite(4,LOW);
+  delay(1000);
+}
+
+//does D4 actually go 5v to GND?
+//yes, if D4 is OUTPUT.
@@ -0,0 +1,36 @@
+//HumpFSR-A
+//same as CenterFSR-A with sign reversal
+//position on A0, pwm:D9, dir:D8,D7
+//FSR on A1 and D4
+
+// BUZZ! (float vs int?)
+#include "Motor.h"
+
+int x, duty, fin;
+float fout;
+byte count; // used as counter
+
+void setup(){
+  Serial.begin(9600);
+  MotorA.init();
+  //for FSR
+  pinMode(A1,INPUT);
+  digitalWrite(A1,HIGH);
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+}
+
+void loop(){
+  fin = 1024 - analogRead(A1);
+  x = analogRead(A0)-512;
+  fout =  .004*(float(fin)*float(x));
+  duty = min(1023,fout);
+  MotorA.torque(fout);
+  if(count++ == 0){
+    Serial.print(x,DEC);
+    Serial.print(" ");
+    Serial.print(fin,DEC);
+    Serial.print(" ");
+    Serial.println(fout,DEC);
+  }
+}  
@@ -0,0 +1,33 @@
+#include "Motor.h"
+
+int x; //position
+float fin; //from hall-sensor [ wired GND to A1 ]
+float fout; //force
+int duty; // max 1024
+byte c; // counter to send data every 256 cycles
+
+void setup(){
+  MotorA.init();
+  pinMode(A1,INPUT); //used for FSR [A1 to D4]
+  pinMode(4,OUTPUT); //used for FSR as GND
+  digitalWrite(A1,HIGH); //enable pull-up resistor
+  digitalWrite(4,LOW); //GND for FSR
+  //TimerOne
+  Serial.begin(9600);
+}
+
+void loop(){
+  fin =  analogRead(A1) - 1000;
+  //fout = random(fin);
+  fout = 2*fin + random(fin); // range [0,4096];
+  fout = fout/3;
+  MotorA.torque(fout);
+ // Timer1.pwm(9,duty); //output force
+
+  if(c++==0){
+  Serial.print(fin);
+  Serial.print(" ");
+  Serial.println(fout);
+  }
+}
+