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Bill - Pendulum and PendulumDamped

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Bill Verplank 2013-01-24 16:06:22 +01:00
parent cd4fdfc907
commit f6fcb48859
2 changed files with 88 additions and 5 deletions
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8
software/apps/Motion/PendulumBillsLatest/PendulumBillsLatest.ino
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@ -1,11 +1,10 @@
// "Pendulum" - spring-mass oscillator // "Pendulum" - spring-mass oscillator
// // Spring-Mass oscillator (no damping)
//#include <TimerOne.h> //#include <TimerOne.h>
#include <Motor.h> #include <Motor.h>
float dt = .005; //time per cycle float dt = .005; //time per cycle
float m = 4.0; //time constant was .002 float m = 4.0; //time constant was .002
float k = 1.0; // spring constant was .15 float k = 1.0; // spring constant was .15
float xf,vf,ff; // floating point versions of pendulum x and v and force float xf,vf,ff; // floating point versions of pendulum x and v and force
int x; // input from analogRead(); int x; // input from analogRead();
@ -18,7 +17,6 @@ byte incomingByte;
void setup() void setup()
{ {
//Timer1.initialize(64); //64 microsecond period
MotorA.init(); //initializes Timer1, pinModes MotorA.init(); //initializes Timer1, pinModes
Serial.begin(9600); Serial.begin(9600);
//initialize position (xf), velocity (vf), force (ff) //initialize position (xf), velocity (vf), force (ff)
@ -35,8 +33,8 @@ void loop(){
vf = vf + (ff/m)*dt; // integrate F/m to get velocity vf = vf + (ff/m)*dt; // integrate F/m to get velocity
xf = xf + vf*dt; // integrate velocity to get position xf = xf + vf*dt; // integrate velocity to get position
f = min(ff,512); //Motor has max torque of 512 duty = abs(ff);
duty = abs(f); duty = min(duty,512); //Motor has max torque of 512
MotorA.torque(duty); MotorA.torque(duty);

85
software/apps/Motion/PendulumDampedBV/PendulumDampedBV.ino Normal file
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@ -0,0 +1,85 @@
// Damped Spring-Mass Oscillator
// BV 24Jan13
#include <Motor.h>
int Fout, Xin, duty;
// mass sring damper model
float m = 4.0;
float k = 1.0;
float b = 0.0;
float dT = .005;
float X, V, F; // model parameters (2nd-order oscil)
byte c=0; //counts up until 0 then prints
byte incomingByte;
void setup(){
Serial.begin(9600);
MotorA.init(); // initializes Timer1, pinModes
Xin = analogRead(A0) - 512; //middle of 0-1023 range
// initialize model variables
X = Xin;
V = 0.0;
F = 0.0;
}
void loop(){
Xin = analogRead(A0) - 512;
F = k*(Xin - X) - b*V; //spring and damper
V += (F/m) * dT;
X += V * dT;
duty = abs(Fout);
duty = min(duty,512);
MotorA.torque(duty);
if(Fout>0)MotorA.direction(FORWARD);
else MotorA.direction(BACKWARD);
if (c++ == 0){
Serial.println(X);
}
/*
if (Serial.available() > 0) {
incomingByte = Serial.read();
if(incomingByte == '}''){
dT = dT * 1.1;
Serial.println(dT);
}
if(incomingByte == '\'){ shift \
dT = dT / 1.1;
Serial.println(dT);
}
if(incomingByte == '|'){
k = k / 1.1;
Serial.println(k);
}
if(incomingByte == '}'){ //shift ]
k = k * 1.1;
Serial.println(k);
}
if(incomingByte == '['){
b = b / 1.1;
Serial.println(b);
}
if(incomingByte == '{'){ //shift [
b = b * 1.1;
Serial.println(b);
}
if(incomingByte == '['){
m = m / 1.1;
Serial.println(m);
}
if(incomingBmyte == '{'){ //shift [
m = m * 1.1;
Serial.println(m);
}
}
}
*/
}