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

Browse Source 
Conflicts:
	es/blatt3/uebung3-4/uebung3-4.ino
	es/blatt3/uebung3-5/uebung3-5.ino
This commit is contained in:
Jim Martens
2015-06-12 11:27:01 +02:00
parent 353c6d940d 308773a921
commit 6c3f0d1b81
5 changed files with 232 additions and 195 deletions
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8
es/blatt3/uebung3-1/uebung3-1.ino
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@ -4,8 +4,8 @@
int az = 50; int az = 50;
int xout = A1; int xout = A1;
int zout = A3; int zout = A2;
int vref = A0; int vref = A3;
// used to achieve a 10 Hz frequency // used to achieve a 10 Hz frequency
// don't touch them // don't touch them
@ -55,8 +55,8 @@ void loop() {
double differenceXRef = xAxis - ref; double differenceXRef = xAxis - ref;
double differenceZRef = zAxis - 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.print("x:");
Serial.println(xAxis); Serial.println(xAxis);

197
es/blatt3/uebung3-3/uebung3-3.ino
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@ -1,135 +1,130 @@
#include <Servo.h> #include <Servo.h>
// these variables describe the used hardware pins // these variables describe the used hardware pins
// adjust them when you use other pins // adjust them when you use other pins
// hardware pins // hardware pins
int az = 50; int az = 50;
int xout = A4; int xout = A4;
int zout = A2; int zout = A2;
int vref = A3; int vref = A3;
int ledPin = 13; int ledPin = 13;
// servo // servo
Servo ourServo; Servo ourServo;
int servoPin = 11; int servoPin = 11;
// used to achieve a 10 Hz frequency // used to achieve a 10 Hz frequency
// don't touch them // don't touch them
long rc = 1049999; long rc = 1049999;
// flags for servo // flags for servo
bool volatile cwMaxReached = false; bool volatile cwMaxReached = false;
bool volatile ccwMaxReached = false; bool volatile ccwMaxReached = false;
bool volatile lightLED = false; bool volatile lightLED = false;
bool volatile read_ready = 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. * Calculates the servo position.
* *
* @param int currentServoPos * @param int currentServoPos
* @param int rotationZ * @param int rotationZ
*/ */
int calculate_new_servo_pos(int currentServoPos, int rotationZ) { int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
int newServoPos = currentServoPos + rotationZ; int newServoPos = currentServoPos + rotationZ;
// faktor 10 zu gross (weil messung grad/sec
if (newServoPos > 159) {
newServoPos = 159; if (newServoPos > 159) {
cwMaxReached = true; newServoPos = 159;
lightLED = true; cwMaxReached = true;
} lightLED = true;
}
if (newServoPos < 25) { if (newServoPos < 25) {
newServoPos = 25; newServoPos = 25;
ccwMaxReached = true; ccwMaxReached = true;
lightLED = true; lightLED = true;
} }
return newServoPos;
return newServoPos;
} }
/** /**
* Setup function for initial setup code * Setup function for initial setup code
*/ */
void setup() { void setup() {
pmc_set_writeprotect(false); pmc_set_writeprotect(false);
pmc_enable_periph_clk(ID_TC1); pmc_enable_periph_clk(ID_TC1);
// configure hardware timer
// configure hardware timer TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ; TC_SetRC(TC0, 1, rc);
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;
TC0->TC_CHANNEL[1].TC_IER=TC_IER_CPCS; // IER = interrupt enable register NVIC_ClearPendingIRQ(TC1_IRQn);
TC0->TC_CHANNEL[1].TC_IDR=~TC_IER_CPCS; NVIC_EnableIRQ(TC1_IRQn);
// start hardware timer
NVIC_ClearPendingIRQ(TC1_IRQn); TC_Start(TC0, 1);
NVIC_EnableIRQ(TC1_IRQn); // Configure pins
pinMode(ledPin, OUTPUT);
// start hardware timer pinMode(az, OUTPUT);
TC_Start(TC0, 1); digitalWrite(az, HIGH);
digitalWrite(ledPin, LOW);
// Configure pins ourServo.attach(servoPin);
pinMode(ledPin, OUTPUT); ourServo.write(90);
pinMode(az, OUTPUT); // initialize serial port
digitalWrite(az, HIGH); Serial.begin(9600);
digitalWrite(ledPin, LOW);
ourServo.attach(servoPin);
ourServo.write(90);
// initialize serial port
Serial.begin(9600);
} }
/** /**
* Loop function for main code * Loop function for main code
*/ */
void loop() { void loop() {
if (read_ready) { if (read_ready) {
int zAxis = analogRead(zout);
int ref = analogRead(vref); // berechnung auf 5000/1024 umstellen - was hat volt mit der berechnung zu tun? warscheinlich steht das so im aufgabenblatt ?
Serial.print("rotationZ: ");
double differenceZRef = zAxis - ref; Serial.println(rotationZ);
double rotationZ = differenceZRef / 9.1;
Serial.print("currentServoPos: ");
Serial.print("rotationZ: "); Serial.println(currentServoPos);
Serial.println(rotationZ); Serial.print("newServoPos: ");
Serial.println(newServoPos);
int currentServoPos = ourServo.read(); if (lightLED) {
int newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ); blink();
}
Serial.print("currentServoPos: "); ourServo.write(newServoPos + 1);
Serial.println(currentServoPos); read_ready = false;
}
Serial.print("newServoPos: ");
Serial.println(newServoPos);
if (lightLED) {
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
lightLED = false;
}
ourServo.write(newServoPos + 1);
read_ready = false;
}
} }
/** /**
* Used to handle the timer. * Used to handle the timer.
*/ */
void TC1_Handler() void TC1_Handler()
{ {
// request static for some magic behind the curtain // request static for some magic behind the curtain
TC_GetStatus(TC0, 1); TC_GetStatus(TC0, 1);
read_ready = true; 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);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
lightLED = false;
} }

58
es/blatt3/uebung3-4/uebung3-4.ino
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@ -24,31 +24,7 @@ bool volatile ccwMaxReached = false;
bool volatile lightLED = false; bool volatile lightLED = false;
bool volatile read_ready = 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 * Setup function for initial setup code
@ -88,27 +64,17 @@ void setup() {
*/ */
void loop() { void loop() {
if (Serial.available() > 0) { 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(); if (command == ledOn) {
readable = (currentChar != -1); digitalWrite(ledPin, HIGH);
if (readable) { }
command[i] = currentChar; else if (command == ledOff) {
i++; digitalWrite(ledPin, LOW);
} }
}
command[i] = '\0';
if (strcmp(command, "LED_on") == 0) {
digitalWrite(ledPin, HIGH);
}
else {
digitalWrite(ledPin, LOW);
}
Serial.println(command);
} }
} }

114
es/blatt3/uebung3-5/uebung3-5.ino
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@ -5,6 +5,9 @@
// hardware pins // hardware pins
int az = 50; int az = 50;
int xout = A4;
int zout = A2;
int vref = A3;
int ledPin = 13; int ledPin = 13;
// servo // servo
@ -24,53 +27,71 @@ 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) { if (newServoPos > 159) {
newServoPos = 159; newServoPos = 159;
cwMaxReached = true; cwMaxReached = true;
lightLED = true; lightLED = true;
Serial.println("Interval 25-159");
} }
if (newServoPos < 25) { if (newServoPos < 25) {
newServoPos = 25; newServoPos = 25;
ccwMaxReached = true; ccwMaxReached = true;
lightLED = 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();
}
command.remove(indexP2);
int angle = command.substring(indexP1 + 1).toInt();
angle = strtok(command, "()"); return angle;
angle = strtok(NULL, "()");
return strtol(angle, NULL, 10);
} }
/** /**
* Setup function for initial setup code * Setup function for initial setup code
*/ */
void setup() { 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 // Configure pins
pinMode(ledPin, OUTPUT); pinMode(ledPin, OUTPUT);
pinMode(az, OUTPUT); pinMode(az, OUTPUT);
digitalWrite(az, HIGH); digitalWrite(az, HIGH);
digitalWrite(ledPin, LOW); digitalWrite(ledPin, LOW);
ourServo.attach(servoPin); ourServo.attach(servoPin);
ourServo.write(90); ourServo.write(90);
@ -83,30 +104,35 @@ void setup() {
*/ */
void loop() { void loop() {
if (Serial.available() > 0) { if (Serial.available() > 0) {
char command[8]; String command;
char currentChar; char currentChar;
int i = 0; int i = 0;
bool readable = true; bool readable = true;
while (readable) { command = Serial.readString();
currentChar = Serial.read();
readable = (currentChar != -1); int servoPos = parse_angle(command);
if (readable) { int validatedServoPos = validate_new_servo_pos(servoPos);
command[i] = currentChar;
i++; Serial.print("move to angle ");
} Serial.println(validatedServoPos);
}
command[i] = '\0'; ourServo.write(validatedServoPos);
long servoPos = parse_angle(command); if (lightLED) {
int validatedServoPos = validate_new_servo_pos(servoPos); lightLED = false;
digitalWrite(ledPin, HIGH);
ourServo.write(validatedServoPos); delay(500);
digitalWrite(ledPin, LOW);
if (lightLED) { }
lightLED = false;
digitalWrite(ledPin, HIGH);
delay(500);
digitalWrite(ledPin, LOW);
}
} }
} }
/**
* Used to handle the timer.
*/
void TC1_Handler()
{
// request static for some magic behind the curtain
TC_GetStatus(TC0, 1);
read_ready = true;
}

50
es/blatt4/uebung4-2/uebung4-2.ino Normal file
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@ -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");
}