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 +1,37 @@
+// 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);
+}