34 lines
712 B
C++
34 lines
712 B
C++
#include "Motor.h"
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int x; //position
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float fin; //from hall-sensor [ wired GND to A1 ]
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float fout; //force
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int duty; // max 1024
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byte c; // counter to send data every 256 cycles
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void setup(){
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MotorA.init();
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pinMode(A1,INPUT); //used for FSR [A1 to D4]
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pinMode(4,OUTPUT); //used for FSR as GND
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digitalWrite(A1,HIGH); //enable pull-up resistor
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digitalWrite(4,LOW); //GND for FSR
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//TimerOne
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Serial.begin(9600);
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}
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void loop(){
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fin = analogRead(A1) - 1000;
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//fout = random(fin);
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fout = 2*fin + random(fin); // range [0,4096];
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fout = fout/3;
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MotorA.torque(fout);
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// Timer1.pwm(9,duty); //output force
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if(c++==0){
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Serial.print(fin);
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Serial.print(" ");
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Serial.println(fout);
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}
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}
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