Motion examples and tests
This commit is contained in:
Bill Verplank
parent
3596727aed
commit
38ee24b847
@ -11,7 +11,7 @@ void setup(){
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void loop(){
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x = analogRead(A0);
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v = x - xold; //lag v, too
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v = x - xold; //lag v, too?
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xold += 0.1*(x-xold); //slide xold with lag
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if(c++==0){
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1502
software/apps/Motion/Damp3/Damp3.maxpat
Normal file
1502
software/apps/Motion/Damp3/Damp3.maxpat
Normal file
File diff suppressed because it is too large
Load Diff
48
software/apps/Motion/Damp3/Damp3/Damp3.ino
Normal file
48
software/apps/Motion/Damp3/Damp3/Damp3.ino
Normal file
@ -0,0 +1,48 @@
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int firstSensor = 0; // first analog sensor
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int secondSensor = 0; // second analog sensor
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int thirdSensor = 0; // digital sensor
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int inByte = 0; // incoming serial byte
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void setup()
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{
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// start serial port at 9600 bps and wait for port to open:
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Serial.begin(9600);
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while (!Serial) {
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; // wait for serial port to connect. Needed for Leonardo only
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}
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pinMode(2, INPUT); // digital sensor is on digital pin 2
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establishContact(); // send a byte to establish contact until receiver responds
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}
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void loop()
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{
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// if we get a valid byte, read analog ins:
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if (Serial.available() > 0) {
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// get incoming byte:
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inByte = Serial.read();
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// read first analog input:
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firstSensor = analogRead(A0);
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// read second analog input:
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secondSensor = analogRead(A1);
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// read switch, map it to 0 or 255L
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thirdSensor = map(digitalRead(2), 0, 1, 0, 255);
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// send sensor values:
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Serial.print(firstSensor);
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Serial.print(",");
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Serial.print(secondSensor);
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Serial.print(",");
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Serial.println(thirdSensor);
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}
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}
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void establishContact() {
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while (Serial.available() <= 0) {
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Serial.println("0,0,0"); // send an initial string
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delay(300);
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}
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}
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783
software/apps/Motion/Damp3/DampMax.maxpat
Normal file
783
software/apps/Motion/Damp3/DampMax.maxpat
Normal file
@ -0,0 +1,783 @@
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}
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],
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"dependency_cache" : [ ]
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}
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}
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20
software/apps/Motion/Damp4/Damp4.ino
Normal file
20
software/apps/Motion/Damp4/Damp4.ino
Normal file
@ -0,0 +1,20 @@
|
||||
//Damp3 trying integration to get velocity
|
||||
// ala Kalman filtering?
|
||||
|
||||
int x; //position measured [0-1023]
|
||||
float af, vf //acceleration, velocity estimates
|
||||
float ff // force out
|
||||
float K = 1.0 //spring
|
||||
float B = 10.0 //damping (dominant)
|
||||
float M = 1.0 //mass
|
||||
|
||||
void setup(){
|
||||
Serial.begin(115200);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(A0);
|
||||
ff = K*(xf-x) - B*vf; // the spring K
|
||||
af = ff/M;
|
||||
vf += af*T; //T is cycle time
|
||||
xf += vf*T;
|
||||
24
software/apps/Motion/DampEuler/DampEuler.ino
Normal file
24
software/apps/Motion/DampEuler/DampEuler.ino
Normal file
@ -0,0 +1,24 @@
|
||||
//Damp Euler
|
||||
|
||||
#define n 10 //number in buffer "window size"
|
||||
// finite difference with n samples between x(i)
|
||||
int x[n]; //last n samples of position
|
||||
int index = 0;
|
||||
float v; // estimate of velocity
|
||||
byte c;
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
for(int i=0; i<n; i++) x[i]=analogRead(A0);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x[index] = analogRead(A0); //position measured
|
||||
v = (x[index] - x[index++%n])/n;
|
||||
if(index > n-1) index = 0;
|
||||
v = buff[index] - buff[(index-n)%n];
|
||||
if(c++==0)Serial.println(v);
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user