Thursday Commit

including David's lib from yesterday

software/apps/Motion/Center/Center.ino

@@ -14,7 +14,7 @@ int duty;   // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
 void setup() 
 {
   
-  MotorA.torque(100);  //is this necessary?
+  MotorA.init();
   
 }
 
@@ -25,7 +25,7 @@ void loop()
   
   force = k * (512 - pos);
   duty = abs(force);
-  duty = min(1023, duty);
+  duty = min(512, duty);
   
   MotorA.torque(duty);
   

software/apps/Motion/CenterA/CenterA.ino

@@ -8,20 +8,18 @@
 
 int pos;    // position from analogRead
 int force;  // computed from pos and k
-int k = 1;  // spring constant
+int k = 10;  // spring constant
 int duty;   // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
  
 void setup() 
 {
-  
-  MotorA.torque(100);  //is this necessary?
-  
+  MotorA.init();
 }
 
 void loop() 
 {
 
-  pos = analogRead(A3);
+  pos = analogRead(A0);
   
   force = k * (512 - pos);
   duty = abs(force);

software/apps/Motion/Pendulum/Pendulum.ino

@@ -0,0 +1,62 @@
+// "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);
+    }    
+  }
+}

software/apps/Motor/A_pos_force_test/A_pos_force_test.ino

@@ -0,0 +1,24 @@
+//position and force reporting
+//sends A0 (MotorA), A1 (ForceA)
+//sends A3 (MotorB), A4 (ForceB)
+// to Serial Monitor
+
+// should FSR set-up be in MMM lib?
+// Bill Verplank 24Jan13
+
+void setup() 
+{ 
+ Serial.begin(9600);
+ //set up for FSR A1 to D4
+  pinMode(A1,INPUT);
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+  digitalWrite(A1,HIGH); //internal pull-up
+}
+
+void loop()
+{
+  Serial.print(analogRead(A0)); //positionA
+  Serial.print("  ");
+  Serial.println(analogRead(A1)); //forceA
+}

software/apps/Motor/Motor.ino

@@ -1,27 +1,22 @@
 //#include <TimerOne.h>
+//BV 24Jan13
 
 #include <Motor.h>
 
 void setup() 
 {
-
-  MotorA.torque(500);  
+  MotorA.init();
+  MotorA.torque(500);  //512 is max torque
   
 }
 
 void loop() 
 {
-  static int j = 1;
-  static long cnt = 0;
-  
-  if(cnt == 50000) {
-    j = -1;
-    MotorA.direction(FORWARD);
-  } else if(cnt == 0) {
-    j = 1;
-    MotorA.direction(BACKWARD);
-  }
-  cnt += j;  
+
+  MotorA.direction(FORWARD);
+  delay(1000);
+  MotorA.direction(BACKWARD);
+  delay(1000);  
   
 }
   

software/apps/Motor/motortest/motortest.ino

@@ -7,6 +7,7 @@ int led = 13;
 
 void setup() 
 { 
+  MotorA.init();
   MotorA.torque(511);  //what is max torque?
   pinMode(13, OUTPUT);
 }
@@ -14,7 +15,9 @@ void setup()
 void loop()
 {
   MotorA.direction(FORWARD);
+  digitalWrite(led,HIGH);
   delay(500);
   MotorA.direction(BACKWARD);
+  digitalWrite(led,LOW);
   delay(500);
 }

software/apps/Motor/postest/postest.ino

@@ -1,14 +1,21 @@
-//position
-//sends A0 (MotorA), A3 (MotorB) to Serial Monitor
+//position and force reporting
+//sends A0 (MotorA), A1 (ForceA)
+//sends A3 (MotorB), A4 (ForceB)
+// to Serial Monitor
 
 void setup() 
 { 
  Serial.begin(9600);
+ //set up for FSR A1 to D4
+  pinMode(A1,INPUT);
+  pinMode(4,OUTPUT);
+  digitalWrite(4,LOW);
+  digitalWrite(A1,HIGH); //internal pull-up
 }
 
 void loop()
 {
-  Serial.print(analogRead(A3));
+  Serial.print(analogRead(A0)); //positionA
   Serial.print("  ");
-  Serial.println(analogRead(A0));
+  Serial.println(analogRead(A1)); //forceA
 }