Added Oscilloscope code in apps

2013-01-28 12:05:23 +01:00
parent 4a2f82f907
commit 62b7761e9a
4 changed files with 378 additions and 0 deletions
@@ -0,0 +1,82 @@
+#include <Motion.h>
+#include <Motor.h>
+#include <Music.h>
+
+char buf[16] = "";
+
+char b = 'x';
+String  inputString = "";
+boolean stringComplete = false;
+
+float k, m, d;
+
+int cnt = 0;
+
+void setup() {
+  
+  // MOTOR
+  MotorA.init();
+  
+  // MUSIC 
+  Music.init();
+  
+  // MOTION
+  MotionA.init(INPUTA0);
+  MotionA.k = 5.2f;   // spring
+  MotionA.m = 1.0f;   // mass
+  MotionA.d = 8.02f;  // damping
+
+  // Serial
+  Serial.begin(9600);  
+}
+
+void loop() {
+  
+  MotionA.update_mass_spring_damper();
+  
+  MotorA.torque(MotionA.F);
+  
+  int f = map(abs(MotionA.F), 0, 512, 64, 76);
+  Music.noteOn(f);
+  
+  cnt++;
+  
+  if(cnt == 10) {  
+    sprintf(buf, "%d %d %d %d", (int)MotionA.F, (int)MotionA.V, (int)MotionA.X, (int)MotionA.Xin);
+    Serial.println(buf);
+    cnt = 0;
+  }  
+  
+  if(stringComplete) {
+    if(b == 'k') {
+      MotionA.k = convertToFloat(inputString);
+    } else if(b == 'm') {
+      MotionA.m = convertToFloat(inputString);
+    } else if(b == 'd') {
+      MotionA.d = convertToFloat(inputString);
+    }    
+    b = 'x';
+    stringComplete = false;
+    inputString = "";
+  }
+}
+
+void serialEvent() {
+  while (Serial.available()) {
+    char inChar = (char)Serial.read();     
+    if(inChar == 'k' || inChar == 'm' || inChar == 'd') {
+      b = inChar;
+    } else {
+      if (inChar == ';') {
+        stringComplete = true;
+      } else       
+        inputString += inChar;
+    }
+  }
+}
+
+float convertToFloat(String str) {
+    char buf[16] = "";
+    str.toCharArray(buf, str.length() + 1);
+    return atof(buf);  
+}