New motion lib

2013-01-23 16:55:40 +01:00
parent 0a0e857cea
commit afd4b230b2
7 changed files with 104 additions and 135 deletions
@@ -1,4 +1,5 @@
 #include <Motion.h>
+#include <Motor.h>

 /*

@@ -41,15 +42,30 @@ float getAcceleration();

 void setup() {
  MotionA.init(INPUTA0);
+  MotorA.init();
  Serial.begin(9600);
+  
+  MotionA.k = 0.2f;
+  MotionA.m = 0.3f;
+  MotionA.d = 0.02f;
+  
 }

 void loop() {
+  
+  if(MotionA.F < 0) MotorA.direction(FORWARD);
+  else MotorA.direction(BACKWARD);
+  
+  float t = abs(MotionA.F);
+  MotorA.torque(t);
+  
+  /*
  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);
+  */
 }