From dca2a5acd43043baf68412351099f385057eb3a3 Mon Sep 17 00:00:00 2001
From: Bill Verplank <billver@bill-verplanks-macbook-2.local>
Date: Sun, 4 Nov 2012 15:42:58 +0100
Subject: [PATCH] DampSpringMass code

none works yet - having trouble with velocity estimation.
---
 software/apps/Motion/Damp/Damp/Damp.ino       |  23 +
 software/apps/Motion/Damp2/Damp2.ino          |  28 +
 .../Motion/DampMass/DampMass/DampMass.ino     |   1 +
 software/apps/Motion/GraphArduinoA0.maxpat    | 576 ++++++++++++++++++
 4 files changed, 628 insertions(+)
 create mode 100644 software/apps/Motion/Damp/Damp/Damp.ino
 create mode 100644 software/apps/Motion/Damp2/Damp2.ino
 create mode 100644 software/apps/Motion/DampMass/DampMass/DampMass.ino
 create mode 100644 software/apps/Motion/GraphArduinoA0.maxpat

diff --git a/software/apps/Motion/Damp/Damp/Damp.ino b/software/apps/Motion/Damp/Damp/Damp.ino
new file mode 100644
index 0000000..97f16d6
--- /dev/null
+++ b/software/apps/Motion/Damp/Damp/Damp.ino
@@ -0,0 +1,23 @@
+//Damp - measure velocity then f=Bv
+#import <Motor.h>
+int x; //position measured
+float v, f, t, xold; //velocity, force, time delta
+byte c; //for debug print every 256th loop
+
+void setup(){
+  Serial.begin(9600);
+  xold = analogRead(A0);
+}
+
+void loop(){
+  x = analogRead(A0);
+  v = x - xold; //lag v, too
+  xold += 0.1*(x-xold); //slide xold with lag
+  
+  if(c++==0){
+    //Serial.print(xold);
+    //Serial.print(" ");
+    Serial.println(100*v);
+  }
+}
+  
diff --git a/software/apps/Motion/Damp2/Damp2.ino b/software/apps/Motion/Damp2/Damp2.ino
new file mode 100644
index 0000000..af8764a
--- /dev/null
+++ b/software/apps/Motion/Damp2/Damp2.ino
@@ -0,0 +1,28 @@
+//Damp 2 with running average position
+
+#define n 10 //number in buffer
+int x; //position measured
+float xf; // running average on n samples
+int buff[n];
+int index = 0;
+float v, oldavg; // estimate of velocity
+byte c;
+
+void setup(){
+  Serial.begin(9600);
+}
+
+void loop(){
+  buff[index] = analogRead(A0);
+  index++;
+  if(index > n-1) index = 0;
+  int acc = 0;
+  for(int i=0; i<n; i++)acc+=buff[i];
+  float avg = acc/n;
+  v = avg - oldavg;
+  oldavg = avg;
+  if(c++==0)Serial.println(v);
+}
+  
+
+
diff --git a/software/apps/Motion/DampMass/DampMass/DampMass.ino b/software/apps/Motion/DampMass/DampMass/DampMass.ino
new file mode 100644
index 0000000..7fef7ab
--- /dev/null
+++ b/software/apps/Motion/DampMass/DampMass/DampMass.ino
@@ -0,0 +1 @@
+//DampMass
diff --git a/software/apps/Motion/GraphArduinoA0.maxpat b/software/apps/Motion/GraphArduinoA0.maxpat
new file mode 100644
index 0000000..7698fe6
--- /dev/null
+++ b/software/apps/Motion/GraphArduinoA0.maxpat
@@ -0,0 +1,576 @@
+{
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