Getting Synched
First time after a lot of tries. -Bill
This commit is contained in:
Bill Verplank
@@ -0,0 +1,36 @@
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//Center
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//uses a variable force (pwm duty)
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//If it feels like a "mountain" - pushing away from center, then
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//reverse the motor leads to make it feel like a "valley"
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//or for a quick fix in the code: change if(f < 0) to if (f > 0)
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#include <Motor.h>
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int pos; // position from analogRead
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int force; // computed from pos and k
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int k = 1; // spring constant
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int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
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void setup()
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{
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MotorA.torque(100); //is this necessary?
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}
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void loop()
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{
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pos = analogRead(A3);
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force = k * (512 - pos);
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duty = abs(force);
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duty = min(511, duty);
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MotorA.torque(duty);
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if(force < 0) MotorA.direction(FORWARD);
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else MotorA.direction(BACKWARD);
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}
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@@ -0,0 +1,36 @@
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//Center
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//uses a variable force (pwm duty)
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//If it feels like a "mountain" - pushing away from center, then
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//reverse the motor leads to make it feel like a "valley"
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//or for a quick fix in the code: change if(f < 0) to if (f > 0)
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#include <Motor.h>
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int pos; // position from analogRead
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int force; // computed from pos and k
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int k = 1; // spring constant
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int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
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void setup()
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{
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MotorB.torque(100); //is this necessary?
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}
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void loop()
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{
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pos = analogRead(A3);
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force = k * (512 - pos);
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duty = abs(force);
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duty = min(1023, duty);
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MotorB.torque(duty);
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if(force < 0) MotorB.direction(FORWARD);
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else MotorB.direction(BACKWARD);
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}
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+1
-1
@@ -1,6 +1,6 @@
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//Damp - measure velocity then f=Bv
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#import <Motor.h>
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int x; //position measured
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int x; //position measured - then filtered
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float v, f, t, xold; //velocity, force, time delta
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byte c; //for debug print every 256th loop
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@@ -0,0 +1,28 @@
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int x, v, t; //position velocity time
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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Serial.begin(9600);
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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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x = analogRead(A0)/4; //just for this test
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xtab[i] = x; //put it in array of x
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i = i + 1; //index to last x (9 times ago)
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if(i>9)i=0; //increment index
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.write(x); // sends one byte [0-255]
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Serial.write(v+128);
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Serial.write(t);
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}
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}
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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,29 @@
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int x, v, t; //position velocity time
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#define n 10
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int xtab[n]; //table of x
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int i; // index for table
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void setup()
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{
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// start serial port at 9600 bps:
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Serial.begin(9600);
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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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x = analogRead(A0)/4; //just for this test
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xtab[i] = x; //put it in array of x
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i = i + 1; //index to last x (9 times ago)
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if(i>9)i=0; //increment index
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v = x - xtab[i]; //difference x vs old x
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t = (t+1)%256;
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// send sensor values:
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Serial.print(x); // sends one byte [0-255]
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Serial.print(",");
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Serial.print(v+128);
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Serial.print(",");
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Serial.println(t);
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}
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+75
-363
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}
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,
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"patching_rect" : [ 128.0, 636.0, 269.0, 19.0 ],
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"fontsize" : 10.0,
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"default_fontname" : "Verdana",
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"fontname" : "Verdana",
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,
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"text" : "p \"draw the circle\""
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"box" : {
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@@ -724,17 +438,6 @@
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"text" : "sel 10"
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}
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, {
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"outlettype" : [ "list", "list", "int", "" ],
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"patching_rect" : [ 128.0, 673.0, 1000.0, 1000.0 ]
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, {
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"box" : {
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@@ -759,7 +462,7 @@
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"numinlets" : 1,
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"patching_rect" : [ 449.0, 596.0, 37.0, 21.0 ],
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"text" : "val3"
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"text" : "t"
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}
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@@ -786,7 +489,7 @@
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"numinlets" : 1,
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"numoutlets" : 0,
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"patching_rect" : [ 321.0, 596.0, 37.0, 21.0 ],
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"text" : "val2"
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"text" : "v"
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}
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@@ -799,7 +502,7 @@
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"numinlets" : 1,
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"numoutlets" : 0,
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"patching_rect" : [ 193.0, 596.0, 37.0, 21.0 ],
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"text" : "val1"
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"text" : "x"
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@@ -1191,7 +894,7 @@
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@@ -1249,7 +952,16 @@
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@@ -1371,6 +1083,15 @@
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@@ -0,0 +1,41 @@
|
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// Velosity sends only one byte values
|
||||
|
||||
int x, v, t; //position velocity time
|
||||
|
||||
#define n 10
|
||||
int xtab[n]; //table of x
|
||||
int i; // index for table
|
||||
|
||||
void setup()
|
||||
{
|
||||
// start serial port at 9600 bps:
|
||||
Serial.begin(9600);
|
||||
establishContact(); // send a byte to establish contact until receiver responds
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
// if we get a valid byte, read analog ins:
|
||||
if (Serial.available() > 0) {
|
||||
x = analogRead(A0)/4;
|
||||
xtab[i] = x; //put it in array of x
|
||||
i = i + 1; //index to last x (9 times ago)
|
||||
if(i>9)i=0; //increment index
|
||||
v = x - xtab[i]; //difference x vs old x
|
||||
t = (t+1)%256;
|
||||
// send sensor values:
|
||||
Serial.write(x);
|
||||
Serial.write(",");
|
||||
Serial.write(v+128);
|
||||
Serial.write(",");
|
||||
Serial.write(t);
|
||||
}
|
||||
}
|
||||
|
||||
void establishContact() {
|
||||
while (Serial.available() <= 0) {
|
||||
Serial.println("0,0,0"); // send an initial string
|
||||
delay(300);
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1,48 +0,0 @@
|
||||
|
||||
int firstSensor = 0; // first analog sensor
|
||||
int secondSensor = 0; // second analog sensor
|
||||
int thirdSensor = 0; // digital sensor
|
||||
int inByte = 0; // incoming serial byte
|
||||
|
||||
void setup()
|
||||
{
|
||||
// start serial port at 9600 bps and wait for port to open:
|
||||
Serial.begin(9600);
|
||||
while (!Serial) {
|
||||
; // wait for serial port to connect. Needed for Leonardo only
|
||||
}
|
||||
|
||||
|
||||
pinMode(2, INPUT); // digital sensor is on digital pin 2
|
||||
establishContact(); // send a byte to establish contact until receiver responds
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
// if we get a valid byte, read analog ins:
|
||||
if (Serial.available() > 0) {
|
||||
// get incoming byte:
|
||||
inByte = Serial.read();
|
||||
// read first analog input:
|
||||
firstSensor = analogRead(A0);
|
||||
// read second analog input:
|
||||
secondSensor = analogRead(A1);
|
||||
// read switch, map it to 0 or 255L
|
||||
thirdSensor = map(digitalRead(2), 0, 1, 0, 255);
|
||||
// send sensor values:
|
||||
Serial.print(firstSensor);
|
||||
Serial.print(",");
|
||||
Serial.print(secondSensor);
|
||||
Serial.print(",");
|
||||
Serial.println(thirdSensor);
|
||||
}
|
||||
}
|
||||
|
||||
void establishContact() {
|
||||
while (Serial.available() <= 0) {
|
||||
Serial.println("0,0,0"); // send an initial string
|
||||
delay(300);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -1,24 +0,0 @@
|
||||
//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);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1 +0,0 @@
|
||||
//DampMass
|
||||
@@ -0,0 +1,26 @@
|
||||
{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510
|
||||
{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
|
||||
{\colortbl;\red255\green255\blue255;}
|
||||
\margl1440\margr1440\vieww10800\viewh8400\viewkind0
|
||||
\pard\tx720\tx1440\tx2160\tx2880\tx3600\tx4320\tx5040\tx5760\tx6480\tx7200\tx7920\tx8640\pardirnatural
|
||||
|
||||
\f0\fs24 \cf0 "Hello, World" Apps\
|
||||
\
|
||||
Wall (spring with and without damping) - how stiff without instability? - does damping help?\
|
||||
Center (full range of force and position) - \
|
||||
\
|
||||
Music -\
|
||||
position -> pitch (linear, non-linear)\
|
||||
gain -> FSR (second device?)\
|
||||
\
|
||||
Motor -\
|
||||
timed (open-loop) - "tick" "rumble" "\
|
||||
ramp - up,stay,dn,stay, etc.\
|
||||
rhythm - march, waltz, \'85\
|
||||
position - table/function (no time dependence) [ is this part of Motion?]\
|
||||
\
|
||||
Motion - \
|
||||
spring (position)\
|
||||
damping (velocity)\
|
||||
inertia (acceleration)\
|
||||
}
|
||||
@@ -44,7 +44,7 @@ void loop(){
|
||||
vf += ff*tf;
|
||||
xf += vf*tf;
|
||||
|
||||
if(c++==0) // when c gets to 255 it next == 0 and send data
|
||||
if(c++==0) // when c gets to 255 it's next == 0 and sends data
|
||||
{
|
||||
Serial.print(x);
|
||||
Serial.print(" ");
|
||||
|
||||
@@ -0,0 +1,26 @@
|
||||
#include <Motor.h>
|
||||
|
||||
float pos, fin, finmax, fout;
|
||||
byte c; // used as a counter from 0 to 255
|
||||
int duty;
|
||||
|
||||
void setup(){
|
||||
digitalWrite(A4,HIGH);
|
||||
digitalWrite(A5,LOW);
|
||||
pinMode(A4, INPUT);
|
||||
pinMode(A5, OUTPUT);
|
||||
//MotorB._period(32);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
fin += .01*(analogRead(A4)-fin);
|
||||
fout = 0.5*fin*(1024+random(1024));
|
||||
duty = min(1024,fout);
|
||||
duty = abs(duty);
|
||||
//duty = min(duty,1024);
|
||||
MotorB.torque(duty);
|
||||
if(fout<0)MotorB.direction(FORWARD);
|
||||
else MotorB.direction(BACKWARD);
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
//motortest
|
||||
//.5 sec forward, .5 sec back
|
||||
|
||||
#include <Motor.h>
|
||||
|
||||
int led = 13;
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.torque(511); //what is max torque?
|
||||
pinMode(13, OUTPUT);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
MotorA.direction(FORWARD);
|
||||
delay(500);
|
||||
MotorA.direction(BACKWARD);
|
||||
delay(500);
|
||||
}
|
||||
@@ -0,0 +1,14 @@
|
||||
//position
|
||||
//sends A0 (MotorA), A3 (MotorB) to Serial Monitor
|
||||
|
||||
void setup()
|
||||
{
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
Serial.print(analogRead(A3));
|
||||
Serial.print(" ");
|
||||
Serial.println(analogRead(A0));
|
||||
}
|
||||
@@ -11,7 +11,7 @@ void setup() {
|
||||
// We initialise the sound engine by calling Music.init() which outputs a tone
|
||||
Music.init();
|
||||
|
||||
Music.setSquare();
|
||||
Music.setSine();
|
||||
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user