Thursday Commit

including David's lib from yesterday

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
 }