HAHA!

2012-11-03 14:04:45 +01:00
commit 82f636dacd
37 changed files with 81640 additions and 0 deletions
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+//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);
+    
+}
+