Merge branch 'master' of github.com:frmwrk123/uni

Conflicts:
	es/blatt3/uebung3-4/uebung3-4.ino
	es/blatt3/uebung3-5/uebung3-5.ino

es/blatt3/uebung3-1/uebung3-1.ino

@@ -4,8 +4,8 @@
 int az = 50;
 
 int xout = A1;
-int zout = A3;
+int zout = A2;
-int vref = A0;
+int vref = A3;
 
 // used to achieve a 10 Hz frequency
 // don't touch them
@@ -55,8 +55,8 @@ void loop() {
     double differenceXRef = xAxis - ref;
     double differenceZRef = zAxis - ref;
     
-    double drehrateX = differenceXRef / 9.1;
+    double drehrateX = ((differenceXRef * 5000) / 1024) / 9.1;
-    double drehrateZ = differenceZRef / 9.1;
+    double drehrateZ = ((differenceZRef * 5000) / 1024) / 9.1;
   
     Serial.print("x:");
     Serial.println(xAxis);

es/blatt3/uebung3-3/uebung3-3.ino

@@ -1,30 +1,32 @@
 #include <Servo.h>
-
 // these variables describe the used hardware pins
 // adjust them when you use other pins
 // hardware pins
 int az = 50;
-
 int xout = A4;
 int zout = A2;
 int vref = A3;
 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;
 
+// tmp variables
+int volatile zAxis = 0;
+int volatile ref = 0;
+double volatile differenceZRef = 0;
+double volatile rotationZ = 0;
+int volatile currentServoPos = 0;
+int volatile newServoPos = 0;
+
 /**
 * Calculates the servo position.
 *
@@ -33,79 +35,86 @@ bool volatile read_ready = false;
 */
 int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
   int newServoPos = currentServoPos + rotationZ;
+  // faktor 10 zu gross (weil messung grad/sec
   
   if (newServoPos > 159) {
     newServoPos = 159;
     cwMaxReached = true;
     lightLED = true;
   }
-
   if (newServoPos < 25) {
     newServoPos = 25;
     ccwMaxReached = true;
     lightLED = true;
   }
-
   return newServoPos;
 }
-
 /**
 * Setup function for initial setup code
 */
 void setup() {
   pmc_set_writeprotect(false);
   pmc_enable_periph_clk(ID_TC1);
-
   // configure hardware timer
   TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
   TC_SetRC(TC0, 1, rc);
-
   TC0->TC_CHANNEL[1].TC_IER = TC_IER_CPCS; // IER = interrupt enable register
   TC0->TC_CHANNEL[1].TC_IDR = ~TC_IER_CPCS;
-
   NVIC_ClearPendingIRQ(TC1_IRQn);
   NVIC_EnableIRQ(TC1_IRQn);
-
   // start hardware timer
   TC_Start(TC0, 1);
-
   // 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 (read_ready) {
-        int zAxis = analogRead(zout);
-        int ref = analogRead(vref);
-
-        double differenceZRef = zAxis - ref;
-        double rotationZ = differenceZRef / 9.1;
     
+    // berechnung auf 5000/1024 umstellen - was hat volt mit der berechnung zu tun? warscheinlich steht das so im aufgabenblatt ?
     Serial.print("rotationZ: ");
     Serial.println(rotationZ);
     
-        int currentServoPos = ourServo.read();
-        int newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ);
-        
     Serial.print("currentServoPos: ");
     Serial.println(currentServoPos);
-        
     Serial.print("newServoPos: ");
     Serial.println(newServoPos);
-        
     if (lightLED) {
+      blink();
+    }
+    ourServo.write(newServoPos + 1);
+    read_ready = false;
+  }
+}
+/**
+* Used to handle the timer.
+*/
+void TC1_Handler()
+{
+  // request static for some magic behind the curtain
+  TC_GetStatus(TC0, 1);
+  read_ready = true;
+  zAxis = analogRead(zout);
+  ref = analogRead(vref);
+  differenceZRef = zAxis - ref;
+  differenceZRef = (differenceZRef * 5000) / 1024;
+  rotationZ = (differenceZRef / 9.1);
+  if (fabs(rotationZ) > 5) {
+    currentServoPos = ourServo.read();
+    newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ / 10);
+  }
+}
+
+void blink(){
   digitalWrite(ledPin, HIGH);
   delay(10);
   digitalWrite(ledPin, LOW);
@@ -119,17 +128,3 @@ void loop() {
   digitalWrite(ledPin, LOW);
   lightLED = false;
 }
-        ourServo.write(newServoPos + 1);
-        read_ready = false;
-    }    
-}
-
-/**
- * Used to handle the timer.
- */
-void TC1_Handler()
-{
-    // request static for some magic behind the curtain
-    TC_GetStatus(TC0, 1);
-    read_ready = true;
-}

es/blatt3/uebung3-4/uebung3-4.ino

@@ -26,30 +26,6 @@ bool volatile lightLED = false;
 bool volatile read_ready = false;
   
 
-/**
- * Calculates the servo position.
- *
- * @param int currentServoPos
- * @param int rotationZ
- */
-int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
-    int newServoPos = currentServoPos + rotationZ;
-
-    if (newServoPos > 159) {
-        newServoPos = 159;
-        cwMaxReached = true;
-        lightLED = true;
-    }
-
-    if (newServoPos < 25) {
-        newServoPos = 25;
-        ccwMaxReached = true;
-        lightLED = true;
-    }
-
-    return newServoPos;
-}
-
 /**
  * Setup function for initial setup code
  */
@@ -88,27 +64,17 @@ void setup() {
  */
 void loop() {
     if (Serial.available() > 0) {
-        char command[8];
+      String command;
-        char currentChar;
+      command = Serial.readString();
-        int i = 0;
+      String ledOn = "LED_on";
-        bool readable = true;
+      String ledOff = "LED_off";
-        while (readable) {
-            currentChar = Serial.read();
-            readable = (currentChar != -1);
-            if (readable) {
-                command[i] = currentChar;
-                i++;
-            }
-        }
-        command[i] = '\0';
       
-        if (strcmp(command, "LED_on") == 0) {
+      if (command == ledOn) {
         digitalWrite(ledPin, HIGH);
       }
-        else {
+      else if (command == ledOff) {
         digitalWrite(ledPin, LOW);
       }
-        Serial.println(command);
     }
 }
 

es/blatt3/uebung3-5/uebung3-5.ino

@@ -5,6 +5,9 @@
 // hardware pins
 int az = 50;
 
+int xout = A4;
+int zout = A2;
+int vref = A3;
 int ledPin = 13;
 
 // servo
@@ -24,47 +27,65 @@ bool volatile read_ready = false;
 
 
 /**
- * Validates the new servo position.
+ * Validates the servo position.
  *
- * @param long newServoPos
+ * @param int newServoPos
  */
-int validate_new_servo_pos(long newServoPos) {
+int validate_new_servo_pos(int newServoPos) {
-
     if (newServoPos > 159) {
         newServoPos = 159;
         cwMaxReached = true;
         lightLED = true;
+        Serial.println("Interval 25-159");
     }
 
     if (newServoPos < 25) {
         newServoPos = 25;
         ccwMaxReached = true;
         lightLED = true;
+        Serial.println("Interval 25-159");
     }
 
-    int validatedServoPos = (int) newServoPos;
+    return newServoPos;
-
-    return validatedServoPos;
 }
 
-/**
+int parse_angle(String command) {
- * Parses the angle of the moveTo command.
+  int indexP1 = command.indexOf('(');
- *
+  int indexP2 = command.indexOf(')');
- * @param char command
+  String command2 = command;
- */
+  command2.remove(indexP1);
-long parse_angle(char* command) {
+  if (command2 != "moveTo") {
-    char* angle;
+    Serial.println("Use moveTo(<angle>)");
-
+    return ourServo.read();
-    angle = strtok(command, "()");
-    angle = strtok(NULL, "()");
-
-    return strtol(angle, NULL, 10);
   }
   
+  command.remove(indexP2);
+  int angle = command.substring(indexP1 + 1).toInt();
+
+  return angle;
+}
+  
+
 /**
  * Setup function for initial setup code
  */
 void setup() {
+    pmc_set_writeprotect(false);
+    pmc_enable_periph_clk(ID_TC1);
+
+    // configure hardware timer
+    TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
+    TC_SetRC(TC0, 1, rc);
+
+    TC0->TC_CHANNEL[1].TC_IER=TC_IER_CPCS;   // IER = interrupt enable register
+    TC0->TC_CHANNEL[1].TC_IDR=~TC_IER_CPCS;
+
+    NVIC_ClearPendingIRQ(TC1_IRQn);
+    NVIC_EnableIRQ(TC1_IRQn);
+
+    // start hardware timer
+    //TC_Start(TC0, 1);
+
     // Configure pins
     pinMode(ledPin, OUTPUT);
     pinMode(az, OUTPUT);
@@ -83,23 +104,18 @@ void setup() {
  */
 void loop() {
     if (Serial.available() > 0) {
-        char command[8];
+      String command;
       char currentChar;
       int i = 0;
       bool readable = true;
-        while (readable) {
+      command = Serial.readString();
-            currentChar = Serial.read();
-            readable = (currentChar != -1);
-            if (readable) {
-                command[i] = currentChar;
-                i++;
-            }
-        }
-        command[i] = '\0';
       
-        long servoPos = parse_angle(command);
+      int servoPos = parse_angle(command);
       int validatedServoPos = validate_new_servo_pos(servoPos);
       
+      Serial.print("move to angle ");
+      Serial.println(validatedServoPos);
+      
       ourServo.write(validatedServoPos);
       
       if (lightLED) {
@@ -110,3 +126,13 @@ void loop() {
       }
     }
 }
+
+/**
+ * Used to handle the timer.
+ */
+void TC1_Handler()
+{
+    // request static for some magic behind the curtain
+    TC_GetStatus(TC0, 1);
+    read_ready = true;
+}

es/blatt4/uebung4-2/uebung4-2.ino

@@ -0,0 +1,50 @@
+#include <Wire.h>
+
+// these variables describe the used hardware pins
+// adjust them when you use other pins
+// hardware pins
+int ledPin = 13;
+int analogLevel = 0;
+
+int slaveAddress = 4;
+
+/**
+ * Setup function for initial setup code
+ */
+void setup() {
+    // Configure pins
+    Wire.begin();
+    Wire.onReceive(receiveEvent);
+
+    // initialize serial port
+    Serial.begin(9600);
+}
+
+/**
+ * Loop function for main code
+ */
+void loop() {
+  Wire.beginTransmission(slaveAddress);
+  Wire.write(1);
+  Wire.endTransmission();
+  delay(100);
+  Wire.beginTransmission(slaveAddress);
+  Wire.write('r');
+  Wire.endTransmission();
+  delay(1900);
+  Wire.beginTransmission(slaveAddress);
+  Wire.write(0);
+  Wire.endTransmission();
+  delay(100);
+  Wire.beginTransmission(slaveAddress);
+  Wire.write('r');
+  Wire.endTransmission();
+  delay(1900);
+}
+
+void receiveEvent(int readBytes)
+{
+  int x = Wire.read();
+  Serial.print("Result: ");
+  Serial.println(x ? "on" : "off");
+}