35 lines
705 B
C++
35 lines
705 B
C++
//Center
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//uses a variable force (pwm duty)
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//If it feels like a "mountain" - pushing away from center, then
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//reverse the motor leads to make it feel like a "valley"
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//or for a quick fix in the code: change if(f < 0) to if (f > 0)
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#include <Motor.h>
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int pos; // position from analogRead
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int force; // computed from pos and k
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int k = 10; // spring constant
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int duty; // pwm duty for Timer1 (range 0 - 1023) 10-bit resolution
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void setup()
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{
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MotorA.init();
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}
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void loop()
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{
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pos = analogRead(A0);
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force = k * (512 - pos);
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duty = abs(force);
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duty = min(511, duty);
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MotorA.torque(duty);
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if(force < 0) MotorA.direction(FORWARD);
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else MotorA.direction(BACKWARD);
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}
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