From 05ecd361b343806764a247d719012e95a527883a Mon Sep 17 00:00:00 2001
From: Jim Martens <github@2martens.de>
Date: Fri, 29 May 2015 14:25:24 +0200
Subject: [PATCH] [ES] Added 3.5
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Signed-óff-by: Jim Martens <github@2martens.de>
---
 es/blatt3/CMakeLists.txt          |   4 ++
 es/blatt3/uebung3-5/uebung3-5.ino | 106 ++++++++++++++++++++++++++++++
 2 files changed, 110 insertions(+)
 create mode 100644 es/blatt3/uebung3-5/uebung3-5.ino

diff --git a/es/blatt3/CMakeLists.txt b/es/blatt3/CMakeLists.txt
index 6132968..0bcfedd 100644
--- a/es/blatt3/CMakeLists.txt
+++ b/es/blatt3/CMakeLists.txt
@@ -16,3 +16,7 @@ generate_arduino_firmware(uebung3-3
 generate_arduino_firmware(uebung3-4
     SKETCH uebung3-4
     PROGRAMMER usbtinyisp)
+
+generate_arduino_firmware(uebung3-5
+    SKETCH uebung3-5
+    PROGRAMMER usbtinyisp)
diff --git a/es/blatt3/uebung3-5/uebung3-5.ino b/es/blatt3/uebung3-5/uebung3-5.ino
new file mode 100644
index 0000000..54574bf
--- /dev/null
+++ b/es/blatt3/uebung3-5/uebung3-5.ino
@@ -0,0 +1,106 @@
+#include <Servo.h>
+
+// these variables describe the used hardware pins
+// adjust them when you use other pins
+// hardware pins
+int az = 50;
+
+int ledPin = 13;
+
+// servo
+Servo ourServo;
+int servoPin = 11;
+
+// used to achieve a 10 Hz frequency
+// don't touch them
+long rc = 1049999;
+
+// flags for servo
+bool volatile cwMaxReached = false;
+bool volatile ccwMaxReached = false;
+bool volatile lightLED = false;
+
+bool volatile read_ready = false;
+
+
+/**
+ * Validates the new servo position.
+ *
+ * @param int newServoPos
+ */
+int validate_new_servo_pos(int newServoPos) {
+
+    if (newServoPos > 159) {
+        newServoPos = 159;
+        cwMaxReached = true;
+        lightLED = true;
+    }
+
+    if (newServoPos < 25) {
+        newServoPos = 25;
+        ccwMaxReached = true;
+        lightLED = true;
+    }
+
+    return newServoPos;
+}
+
+/**
+ * Parses the angle of the moveTo command.
+ *
+ * @param char command
+ */
+int parse_angle(char* command) {
+    // get position of ( and extract string until position of )
+    char angle[5];
+
+    return (int) angle;
+}
+
+/**
+ * Setup function for initial setup code
+ */
+void setup() {
+    // Configure pins
+    pinMode(ledPin, OUTPUT);
+    pinMode(az, OUTPUT);
+    digitalWrite(az, HIGH);
+    digitalWrite(ledPin, LOW);
+
+    ourServo.attach(servoPin);
+    ourServo.write(90);
+
+    // initialize serial port
+    Serial.begin(9600);
+}
+
+/**
+ * Loop function for main code
+ */
+void loop() {
+    if (Serial.available() > 0) {
+        char command[8];
+        char currentChar;
+        int i = 0;
+        bool readable = true;
+        while (readable) {
+            currentChar = Serial.read();
+            readable = (currentChar != -1);
+            command[i] = currentChar;
+            i++;
+        }
+        command[i] = '\0';
+
+        int servoPos = parse_angle(command);
+        int validatedServoPos = validate_new_servo_pos(servoPos);
+
+        ourServo.write(validatedServoPos);
+
+        if (lightLED) {
+            lightLED = false;
+            digitalWrite(ledPin, HIGH);
+            delay(500);
+            digitalWrite(ledPin, LOW);
+        }
+    }
+}