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Changes to Motion, Motor and Music Library

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Motion library still needs to be fixed. Don't use yet.
This commit is contained in:
Jakob Bak
2013-01-24 21:14:05 +01:00
parent fc8f353064
commit 9f2f760a47
8 changed files with 304 additions and 47 deletions
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software/apps/Motion/Center/Center.ino
+10 -7
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@@ -4,7 +4,8 @@
//reverse the motor leads
//or for a quick fix in the code: change if(f < 0) to if (f > 0)
#include <Motor.h>
#include "Motor.h"
#include "Music.h"
int pos; // position from analogRead
int force; // computed from pos and k
@@ -13,8 +14,8 @@ int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
void setup()
{
MotorA.init();
Music.init();
}
@@ -23,14 +24,16 @@ void loop()
pos = analogRead(A0);
Music.setFrequency(pos);
force = k * (512 - pos);
duty = abs(force);
duty = min(512, duty);
//duty = abs(force);
//duty = min(512, duty);
MotorA.torque(duty);
MotorA.torque(force);
if(force < 0) MotorA.direction(FORWARD);
else MotorA.direction(BACKWARD);
//if(force < 0) MotorA.direction(FORWARD);
//else MotorA.direction(BACKWARD);
}