DampSpringMass code

none works yet - having trouble with velocity estimation.
2012-11-04 15:42:58 +01:00
parent 82f636dacd
commit dca2a5acd4
4 changed files with 628 additions and 0 deletions
@@ -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);
+  }
+}
+