21 lines
432 B
C++
21 lines
432 B
C++
//Damp3 trying integration to get velocity
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// ala Kalman filtering?
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int x; //position measured [0-1023]
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float af, vf //acceleration, velocity estimates
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float ff // force out
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float K = 1.0 //spring
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float B = 10.0 //damping (dominant)
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float M = 1.0 //mass
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void setup(){
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Serial.begin(115200);
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}
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void loop(){
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x = analogRead(A0);
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ff = K*(xf-x) - B*vf; // the spring K
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af = ff/M;
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vf += af*T; //T is cycle time
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xf += vf*T;
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