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Jakob changed some comments on bill's computer

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Bill Verplank
2013-01-25 11:14:52 +01:00
parent 0f8eb0f54d
commit b0bce01fac
2 changed files with 28 additions and 23 deletions
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software/apps/Motion/Center/Center.ino
+13 -8
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@@ -7,14 +7,15 @@
#include "Motor.h"
#include "Music.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
int posA, posB; // position from analogRead
int forceA, forceB; // computed from pos and k
int kA, kB = 2; // spring constant
//int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
void setup()
{
MotorA.init();
MotorB.init();
Music.init();
}
@@ -22,15 +23,19 @@ void setup()
void loop()
{
pos = analogRead(A0);
posA = analogRead(A0);
posB = analogRead(A3);
Music.setFrequency(pos);
Music.setFrequency1(posA);
Music.setFrequency2(posB);
force = k * (512 - pos);
forceA = - kA * (512 - posA);
forceB = - kB * (512 - posB);
//duty = abs(force);
//duty = min(512, duty);
MotorA.torque(force);
MotorA.torque(forceA); //force can be -512 to +511
MotorB.torque(forceB); //force can be -512 to +511
//if(force < 0) MotorA.direction(FORWARD);
//else MotorA.direction(BACKWARD);