New motion lib

2013-01-23 16:55:40 +01:00
parent 0a0e857cea
commit afd4b230b2
7 changed files with 104 additions and 135 deletions
@@ -0,0 +1,63 @@
+// "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);
+  //if(t > 512) t = 512;
+  //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);
+    }    
+  }
+}