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 +1,33 @@
+#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);
+  }
+}
+