TEI Studio
This commit is contained in:
dviid
@@ -1,44 +0,0 @@
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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
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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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#include "Music.h"
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int posA, posB; // position from analogRead
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int forceA, forceB; // computed from pos and k
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int kA, kB = 2; // 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.init();
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MotorB.init();
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Music.init();
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}
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void loop()
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{
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posA = analogRead(A0);
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posB = analogRead(A3);
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Music.setFrequency1(posA);
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Music.setFrequency2(posB);
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forceA = - kA * (512 - posA);
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forceB = - kB * (512 - posB);
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//duty = abs(force);
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//duty = min(512, duty);
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MotorA.torque(forceA); //force can be -512 to +511
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MotorB.torque(forceB); //force can be -512 to +511
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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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@@ -1,34 +0,0 @@
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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 = 10; // 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.init();
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}
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void loop()
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{
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pos = analogRead(A0);
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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 +1,43 @@
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// CenterAB - both motors
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//CenterA at xB, CenterB at xA?
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//feels like "Double Toggle"
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//position on A0, pwm:D9, dir:D8,D7
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//CenterB
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//position on A3, pwm:D10, dir:D11,D12
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#include <Motor.h>
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int duty, count, fout;
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int xA, xB, foutA, foutB;
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void setup(){
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Serial.begin(9600);
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MotorA.init();
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MotorB.init();
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}
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void loop(){
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xA = analogRead(A0);
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xB = analogRead(A3);
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foutA = 6*(xB-512); // this will peak at x=1024/6
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MotorA.torque(foutA); // 1/4 or 1/2 ?
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foutB = 6*(xA-512); // this will peak at x=1024/6
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MotorB.torque(foutB); // 1/4 or 1/2 ?
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// print every 1000 cycles
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if(count++>=0){
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count=-500;
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Serial.print(xA,DEC);
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Serial.print(" ");
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Serial.print(foutA,DEC);
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Serial.print(" ");
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Serial.print(xB,DEC);
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Serial.print(" ");
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Serial.println(foutB,DEC);
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}
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}
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@@ -1,36 +0,0 @@
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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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@@ -1,41 +0,0 @@
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//Center two motors control two frequencies. (jb&bv 25Jan13)
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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 or the sign of forceA or forceB
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//or for a quick fix in the code: change if(f < 0) to if (f > 0)
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// notes to me (bv)
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#include "Motor.h"
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#include "Music.h"
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int posA, posB; // position from analogRead
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int forceA, forceB; // computed from pos and k
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int kA = 2; // spring constant
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int kB = 2; // 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.init();
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Music.init(); // 12-bit sine default (see .cpp file)
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//Music.setWaveform(0); // only works with 8bit waveforms
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}
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void loop()
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{
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posA = analogRead(A0);
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posB = analogRead(A3);
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Music.setFrequency1(posA);
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Music.setFrequency2(posB);
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forceA = - kA * (512 - posA); // check wiring???
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forceB = kB * (512 - posB);
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MotorA.torque(forceA); // forceA [-512 to +511] ???
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MotorB.torque(forceB);
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}
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@@ -1,23 +0,0 @@
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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 - 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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void setup(){
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Serial.begin(9600);
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xold = analogRead(A0);
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}
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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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xold += 0.1*(x-xold); //slide xold with lag
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if(c++==0){
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//Serial.print(xold);
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//Serial.print(" ");
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Serial.println(100*v);
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}
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}
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@@ -1,28 +0,0 @@
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//Damp 2 with running average position
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#define n 10 //number in buffer
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int x; //position measured
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float xf; // running average on n samples
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int buff[n];
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int index = 0;
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float v, oldavg; // estimate of velocity
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byte c;
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void setup(){
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Serial.begin(9600);
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}
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void loop(){
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buff[index] = analogRead(A0);
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index++;
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if(index > n-1) index = 0;
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int acc = 0;
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for(int i=0; i<n; i++)acc+=buff[i];
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float avg = acc/n;
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v = avg - oldavg;
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oldavg = avg;
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if(c++==0)Serial.println(v);
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}
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@@ -1,20 +0,0 @@
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//Damp3 trying integration to get velocity
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// ala Kalman filtering?
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int x; //position measured [0-1023]
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float af, vf //acceleration, velocity estimates
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float ff // force out
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float K = 1.0 //spring
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float B = 10.0 //damping (dominant)
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float M = 1.0 //mass
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void setup(){
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Serial.begin(115200);
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}
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void loop(){
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x = analogRead(A0);
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ff = K*(xf-x) - B*vf; // the spring K
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af = ff/M;
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vf += af*T; //T is cycle time
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xf += vf*T;
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@@ -1,783 +0,0 @@
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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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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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File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -1,29 +0,0 @@
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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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File diff suppressed because it is too large
Load Diff
@@ -1,41 +0,0 @@
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// Velosity sends only one byte values
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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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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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x = analogRead(A0)/4;
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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);
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Serial.write(",");
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Serial.write(v+128);
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Serial.write(",");
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Serial.write(t);
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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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File diff suppressed because it is too large
Load Diff
@@ -1,28 +0,0 @@
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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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}
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@@ -1,26 +0,0 @@
|
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{\rtf1\ansi\ansicpg1252\cocoartf1138\cocoasubrtf510
|
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{\fonttbl\f0\fswiss\fcharset0 Helvetica;}
|
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{\colortbl;\red255\green255\blue255;}
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\margl1440\margr1440\vieww10800\viewh8400\viewkind0
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\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)\
|
||||
}
|
||||
@@ -1,55 +0,0 @@
|
||||
#include <Motion.h>
|
||||
|
||||
/*
|
||||
|
||||
Two motion objects are available from the MMM Motions library
|
||||
(1) MotionA
|
||||
(2) MotionB
|
||||
|
||||
MOTION {
|
||||
MOTIONA ,
|
||||
MOTIONB1
|
||||
};
|
||||
|
||||
Each objects needs intialisation with a specific input
|
||||
from which ADC reading will be performed.
|
||||
|
||||
Users may choose and identify inputs aa INPUT[A0, ... ,A7].
|
||||
ex: MotionA.init(INPOUTA5);
|
||||
|
||||
INPUT {
|
||||
INPUTA0,
|
||||
INPUTA1,
|
||||
INPUTA2,
|
||||
INPUTA3,
|
||||
INPUTA4,
|
||||
INPUTA5,
|
||||
INPUTA6,
|
||||
INPUTA7
|
||||
}
|
||||
|
||||
All calculation of physics (position, velocity and acceleration)
|
||||
are computed internally usign interrupts and timers. To access
|
||||
such information, user may call getPosition(), getVelocity()
|
||||
and getAcceleration() respectively on a initialised Motion object.
|
||||
|
||||
int getPosition();
|
||||
float getVelocity();
|
||||
float getAcceleration();
|
||||
|
||||
*/
|
||||
|
||||
void setup() {
|
||||
MotionA.init(INPUTA0);
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
Serial.print("position: "); Serial.println(MotionA.getPosition());
|
||||
Serial.print("velocity: "); Serial.println(MotionA.getVelocity());
|
||||
Serial.print("accel: "); Serial.println(MotionA.getAcceleration());
|
||||
Serial.println("-------");
|
||||
delay(100);
|
||||
}
|
||||
|
||||
|
||||
@@ -1,62 +0,0 @@
|
||||
// "Pendulum" - spring-mass oscillator
|
||||
#include <Motion.h>
|
||||
#include <Motor.h>
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
void setup()
|
||||
{
|
||||
// init MotionA & MotorA
|
||||
MotionA.init(INPUTA0);
|
||||
MotorA.init();
|
||||
|
||||
// provide MotionA with initial physics constants
|
||||
MotionA.k = 0.2f; // spring
|
||||
MotionA.m = 0.3f; // mass
|
||||
MotionA.d = 0.02f; // damping
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
|
||||
if(MotionA.F < 0) MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
float t = abs(MotionA.F);
|
||||
MotorA.torque(t);
|
||||
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '1'){
|
||||
MotionA.m = MotionA.m * 1.1;
|
||||
Serial.print("m: ");
|
||||
Serial.println(MotionA.m);
|
||||
}
|
||||
else if(incomingByte == '!'){
|
||||
MotionA.m = MotionA.m / 1.1;
|
||||
Serial.print("m: ");
|
||||
Serial.println(MotionA.m);
|
||||
}
|
||||
else if(incomingByte == '2'){
|
||||
MotionA.k = MotionA.k * 1.1;
|
||||
Serial.print("k: ");
|
||||
Serial.println(MotionA.k);
|
||||
}
|
||||
else if(incomingByte == '@'){
|
||||
MotionA.k = MotionA.k / 1.1;
|
||||
Serial.print("k: ");
|
||||
Serial.println(MotionA.k);
|
||||
}
|
||||
else if(incomingByte == '3'){
|
||||
MotionA.d = MotionA.d * 1.1;
|
||||
Serial.print("d: ");
|
||||
Serial.println(MotionA.d);
|
||||
}
|
||||
else if(incomingByte == '#'){
|
||||
MotionA.d = MotionA.d / 1.1;
|
||||
Serial.print("d: ");
|
||||
Serial.println(MotionA.d);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,68 +0,0 @@
|
||||
// "Pendulum" - spring-mass oscillator
|
||||
// Spring-Mass oscillator (no damping)
|
||||
|
||||
//#include <TimerOne.h>
|
||||
#include <Motor.h>
|
||||
float dt = .005; //time per cycle
|
||||
float m = 4.0; //time constant was .002
|
||||
float k = 1.0; // spring constant was .15
|
||||
float xf,vf,ff; // floating point versions of pendulum x and v and force
|
||||
int x; // input from analogRead();
|
||||
int f; // integer version of force
|
||||
int duty; // abs(f)
|
||||
byte c=0; //counts up until 0 then prints
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
|
||||
void setup()
|
||||
{
|
||||
MotorA.init(); //initializes Timer1, pinModes
|
||||
Serial.begin(9600);
|
||||
//initialize position (xf), velocity (vf), force (ff)
|
||||
x = analogRead(A0) - 512; //middle of 0-1-23 range
|
||||
xf = x;
|
||||
vf = 0.0;
|
||||
ff = 0.0;
|
||||
|
||||
}
|
||||
|
||||
void loop(){
|
||||
x = analogRead(0) - 512; // position [0-1024]
|
||||
ff = k*(x - xf); // spring
|
||||
vf = vf + (ff/m)*dt; // integrate F/m to get velocity
|
||||
xf = xf + vf*dt; // integrate velocity to get position
|
||||
|
||||
duty = abs(ff);
|
||||
duty = min(duty,512); //Motor has max torque of 512
|
||||
|
||||
|
||||
MotorA.torque(duty);
|
||||
if(ff>0)MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
if (c++ == 0){
|
||||
Serial.println(xf);
|
||||
}
|
||||
/*
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '\''){
|
||||
tf = tf * 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == ';'){
|
||||
tf = tf / 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == '.'){
|
||||
kf = kf / 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
if(incomingByte == '/'){
|
||||
kf = kf * 1.1;
|
||||
Serial.println(tf);
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
@@ -1,85 +0,0 @@
|
||||
// Damped Spring-Mass Oscillator
|
||||
// BV 24Jan13
|
||||
|
||||
#include <Motor.h>
|
||||
int Fout, Xin, duty;
|
||||
|
||||
// mass sring damper model
|
||||
float m = 4.0;
|
||||
float k = 1.0;
|
||||
float b = 0.0;
|
||||
float dT = .005;
|
||||
float X, V, F; // model parameters (2nd-order oscil)
|
||||
|
||||
byte c=0; //counts up until 0 then prints
|
||||
|
||||
byte incomingByte;
|
||||
|
||||
void setup(){
|
||||
Serial.begin(9600);
|
||||
MotorA.init(); // initializes Timer1, pinModes
|
||||
Xin = analogRead(A0) - 512; //middle of 0-1023 range
|
||||
// initialize model variables
|
||||
X = Xin;
|
||||
V = 0.0;
|
||||
F = 0.0;
|
||||
}
|
||||
|
||||
void loop(){
|
||||
Xin = analogRead(A0) - 512;
|
||||
F = k*(Xin - X) - b*V; //spring and damper
|
||||
V += (F/m) * dT;
|
||||
X += V * dT;
|
||||
|
||||
duty = abs(Fout);
|
||||
duty = min(duty,512);
|
||||
|
||||
MotorA.torque(duty);
|
||||
if(Fout>0)MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
|
||||
if (c++ == 0){
|
||||
Serial.println(X);
|
||||
}
|
||||
/*
|
||||
if (Serial.available() > 0) {
|
||||
incomingByte = Serial.read();
|
||||
if(incomingByte == '}''){
|
||||
dT = dT * 1.1;
|
||||
Serial.println(dT);
|
||||
}
|
||||
if(incomingByte == '\'){ shift \
|
||||
dT = dT / 1.1;
|
||||
Serial.println(dT);
|
||||
}
|
||||
if(incomingByte == '|'){
|
||||
k = k / 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
if(incomingByte == '}'){ //shift ]
|
||||
k = k * 1.1;
|
||||
Serial.println(k);
|
||||
}
|
||||
if(incomingByte == '['){
|
||||
b = b / 1.1;
|
||||
Serial.println(b);
|
||||
}
|
||||
if(incomingByte == '{'){ //shift [
|
||||
b = b * 1.1;
|
||||
Serial.println(b);
|
||||
}
|
||||
if(incomingByte == '['){
|
||||
m = m / 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
if(incomingBmyte == '{'){ //shift [
|
||||
m = m * 1.1;
|
||||
Serial.println(m);
|
||||
}
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
|
||||
|
||||
@@ -1,80 +0,0 @@
|
||||
// "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's next == 0 and sends 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);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,72 +0,0 @@
|
||||
#include <Motion.h>
|
||||
#include <Motor.h>
|
||||
|
||||
char buf[16] = "";
|
||||
|
||||
char b = 'x';
|
||||
String inputString = "";
|
||||
boolean stringComplete = false;
|
||||
|
||||
float k, m, d;
|
||||
int duty;
|
||||
|
||||
void setup() {
|
||||
|
||||
MotorA.init();
|
||||
|
||||
MotionA.init(INPUTA0);
|
||||
|
||||
MotionA.k = 0.2f; // spring
|
||||
MotionA.m = 1.0f; // mass
|
||||
MotionA.d = 0.02f; // damping
|
||||
|
||||
Serial.begin(9600);
|
||||
}
|
||||
|
||||
void loop() {
|
||||
//send force out
|
||||
if (MotionA.F > 0) MotorA.direction(FORWARD);
|
||||
else MotorA.direction(BACKWARD);
|
||||
duty = abs(MotionA.F);
|
||||
duty = min(512,duty);
|
||||
MotorA.torque(duty);
|
||||
|
||||
//send data to be plotted by Processing "plotter"
|
||||
sprintf(buf, "%d %d %d %d", (int)MotionA.F, (int)MotionA.A, (int)MotionA.V, (int)MotionA.X);
|
||||
Serial.println(buf);
|
||||
|
||||
delay(10);
|
||||
|
||||
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);
|
||||
}
|
||||
@@ -0,0 +1,35 @@
|
||||
//"Pulse" - small duration positive then negative force
|
||||
// parameters: F1, T1, D1, F2, T2, D2
|
||||
|
||||
#define BIT_DEPTH 12
|
||||
|
||||
#include <Motor.h>
|
||||
#include <Music.h>
|
||||
|
||||
void setup(){
|
||||
MotorB.init();
|
||||
Music.init();
|
||||
|
||||
Music.setWaveform(SINE);
|
||||
Music.enableEnvelope();
|
||||
Music.setAttack(10);
|
||||
Music.setDecay(10);
|
||||
Music.setRelease(10);
|
||||
}
|
||||
|
||||
void loop(){
|
||||
//for (int i; i < 512; i + 100){
|
||||
MotorB.torque(40);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,30,60));
|
||||
delay (20);
|
||||
Music.noteOff();
|
||||
MotorB.torque(0);
|
||||
delay (150);
|
||||
MotorB.torque(-70);
|
||||
Music.noteOn(map(analogRead(A3),0,1023,35,65));
|
||||
delay (40);
|
||||
Music.noteOff();
|
||||
MotorB.torque(0);
|
||||
delay (750);
|
||||
//}
|
||||
}
|
||||
@@ -1,26 +0,0 @@
|
||||
#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);
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user