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);
+    }    
+  }
+}