HAHA!

2012-11-03 14:04:45 +01:00
commit 82f636dacd
37 changed files with 81640 additions and 0 deletions
@@ -0,0 +1,36 @@
+//Center
+//uses a variable force (pwm duty)
+//If it feels like a mountain - pushing away from center, then
+//reverse the motor leads
+//or for a quick fix in the code: change if(f < 0) to if (f > 0)
+
+#include <Motor.h>
+
+int pos;    // position from analogRead
+int force;  // computed from pos and k
+int k = 2;  // spring constant
+int duty;   // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
+ 
+void setup() 
+{
+  
+  MotorA.torque(100);  //is this necessary?
+  
+}
+
+void loop() 
+{
+
+  pos = analogRead(A0);
+  
+  force = k * (512 - pos);
+  duty = abs(force);
+  duty = min(1023, duty);
+  
+  MotorA.torque(duty);
+  
+  if(force < 0) MotorA.direction(FORWARD);
+  else MotorA.direction(BACKWARD);
+    
+}
+  
@@ -0,0 +1,80 @@
+// "Pendulum" - spring-mass oscillator
+//
+
+#include <TimerOne.h>
+#include <Motor.h>
+float tf = 0.002; //time constant was .002
+float kf = 0.2;  // spring constant was .15
+float xf,vf,ff; // floating point versions of pendulum x and v and force
+int x, f;  //int versions of position (from a/d) and force (to Pwm)
+int duty; // abs(f)
+byte c=0;  //counts up until 0 then prints
+
+float m = 0.3;
+float k = 0.01;
+
+float damp = 0.09;
+
+byte incomingByte;
+
+
+
+void setup() 
+{
+  //Timer1.initialize(64); //64 microsecond period
+  MotorA.torque(100); //initializes Timer1, pinModes
+  Serial.begin(9600);
+}
+
+void loop(){
+  x = analogRead(0); // position [0-1024]
+  ff = kf*(x - xf); // spring
+  f = max(ff,-1024);
+  f = min(f,1024);
+ // if(f>0)digitalWrite(DIRA,HIGH);
+ // else digitalWrite(DIRA,LOW);
+  duty = abs(f);
+ // Timer1.pwm(9,duty);
+  MotorA.torque(duty);
+  if(f>0)MotorA.direction(FORWARD);
+  else MotorA.direction(BACKWARD);
+  
+  // update (integrate) floating versions of xf and vf
+  //integrate twice tf is deltaT/mass;
+  vf += ff*tf;
+  xf += vf*tf;
+  
+  if(c++==0) // when c gets to 255 it next == 0 and send data
+  {
+    Serial.print(x);
+    Serial.print(" ");
+    Serial.print(xf);
+    Serial.print(" ");
+    Serial.println(ff);
+  }
+  
+if (c++ == 0)Serial.println(x); //
+  if (Serial.available() > 0) {
+    //Serial.print(v);
+    //Serial.print(" ");
+    //Serial.println(x);
+    incomingByte = Serial.read();
+    //Serial.write(incomingByte);
+    if(incomingByte == '\''){
+      m = m * 1.1;
+      Serial.println(m);
+    }
+    if(incomingByte == ';'){
+     m = m / 1.1;
+     Serial.println(m);
+    }
+    if(incomingByte == '.'){
+      k = k / 1.1;
+      Serial.println(k);
+    }
+    if(incomingByte == '/'){
+      k = k * 1.1;
+      Serial.println(k);
+    }
+  }
+}