CANVAS_SIZE = 700;

ARM_WIDTH = 10;

ARM_LENGTH = CANVAS_SIZE/2;

ARM_MASS = 1.0;

ARM_FRICTION = 1.8;

​

DELTA_T = 0.05;

​

arm_angle = 0;

arm_velocity = 0;

arm_torque = 560;

let slider;

let sum_error=0;

let last_error = 0;

let ANGLE_SETPOINTS = [30,45,60,90,120,135, 150];

angle_index = 0;

let ANGLE_SET = ANGLE_SETPOINTS[angle_index];

let loopCount = 0;

const INTERVAL_DURATION = 50;

​

function setup() {

  createCanvas(CANVAS_SIZE, CANVAS_SIZE);

  angleMode(DEGREES);

  slider = createSlider(0, 255, 128);

  slider.position(10, 10);

  slider.style('width', '80px');

}

​

let SETPOINT = 120;

let MOTOR_TORQUE = 1200;

let TOLERANCE = 5;

let cycle = 0;

​

function draw() {

  drawLines();

  drawArm();

  armSimulation();

  // Use the arm_torque slider to observe the effect of torque on the position of the arm. 

  // When you are ready to try to automate this, comment out the next line.

  arm_torque = map(slider.value(),0,255,-2000,2000);

  // your automated code goes here:

  automated_arm(angle)

}

​

​

function drawArm() { 

  fill(100, 100, 150);

​

  rect(CANVAS_SIZE / 2 - 25, CANVAS_SIZE / 2 - 25, 50, CANVAS_SIZE/1.5, 5);

​

  fill(200);

  push();

  translate(CANVAS_SIZE / 2, CANVAS_SIZE / 2 - ARM_WIDTH / 2);

  rotate(map(arm_angle, 0, 90, 90, 0));

  rect(-ARM_WIDTH / 2, -ARM_WIDTH / 2, ARM_LENGTH, ARM_WIDTH, 5);

  pop();

}

​

function drawLines() {

  const LINE_ANGLES = [30, 45, 60, 90, 135, 120, 150];

background(230);

  for (var i = 0; i < LINE_ANGLES.length; i++) {

    stroke(200);

    push();

    translate(CANVAS_SIZE / 2, CANVAS_SIZE / 2 - ARM_WIDTH / 2);

    rotate(map(LINE_ANGLES[i], 0, 90, 90, 0));

    setLineDash([10, 10]); //longer stitches

    line(0, 0, 150, 0);

    pop();

  }

}

function armSimulation() {

  MAX_TORQUE = 2000;

  if(arm_torque>MAX_TORQUE){

    arm_torque = MAX_TORQUE;

  }

  if(arm_torque<-MAX_TORQUE){

    arm_torque = -MAX_TORQUE;

  }

  let weight_torque = ((ARM_MASS * 9.81 * ARM_LENGTH) / 2) * sin(arm_angle);

  deltaVel =

    ((-weight_torque + arm_torque - ARM_FRICTION * arm_velocity) * DELTA_T) /

    ARM_MASS;

  arm_velocity += deltaVel;

  arm_angle = arm_angle + arm_velocity * DELTA_T;

}

​

function setLineDash(list) {

  drawingContext.setLineDash(list);

}

​

function automated_arm(targetangle) {

  if(targetangle - arm_angle > 5) {

    arm_torque = 1500;

  }

  else {

    arm_torque = (targetangle - arm_angle) * 1000;

  }

  if(arm_angle - targetangle > 5) {

    arm_torque = -1500;

  }

  cycle += 1;

  print(cycle, arm_angle)

}