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[ES] Blatt 3 fertiggestellt

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Signed-off-by: Jim Martens <github@2martens.de>
This commit is contained in:
Jim Martens
2015-06-09 17:10:11 +02:00
parent 04805ce189
commit 8999977fc5
4 changed files with 177 additions and 186 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 xout = A1;
int zout = A3;
int vref = A0;
int zout = A2;
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 drehrateZ = differenceZRef / 9.1;
double drehrateX = ((differenceXRef * 5000) / 1024) / 9.1;
double drehrateZ = ((differenceZRef * 5000) / 1024) / 9.1;
Serial.print("x:");
Serial.println(xAxis);

197
es/blatt3/uebung3-3/uebung3-3.ino
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@ -1,135 +1,130 @@
#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.
*
* @param int currentServoPos
* @param int rotationZ
*/
* 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;
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
*/
* 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);
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
*/
* 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;
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) {
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;
}
if (read_ready) {
// 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);
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.
*/
* Used to handle the timer.
*/
void TC1_Handler()
{
// request static for some magic behind the curtain
TC_GetStatus(TC0, 1);
read_ready = true;
// 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);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
delay(10);
digitalWrite(ledPin, HIGH);
delay(10);
digitalWrite(ledPin, LOW);
lightLED = false;
}

46
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 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
@ -88,25 +64,17 @@ void setup() {
*/
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';
String command;
command = Serial.readString();
String ledOn = "LED_on";
String ledOff = "LED_off";
if (strcmp(command, "LED_on") == 0) {
if (command == ledOn) {
digitalWrite(ledPin, HIGH);
}
else {
else if (command == ledOff) {
digitalWrite(ledPin, LOW);
}
Serial.println(command);
}
}

112
es/blatt3/uebung3-5/uebung3-5.ino
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@ -5,6 +5,9 @@
// hardware pins
int az = 50;
int xout = A4;
int zout = A2;
int vref = A3;
int ledPin = 13;
// 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) {
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 validatedServoPos;
return newServoPos;
}
/**
* Parses the angle of the moveTo command.
*
* @param char command
*/
long parse_angle(char* command) {
char* angle;
int parse_angle(String command) {
int indexP1 = command.indexOf('(');
int indexP2 = command.indexOf(')');
String command2 = command;
command2.remove(indexP1);
if (command2 != "moveTo") {
Serial.println("Use moveTo(<angle>)");
return ourServo.read();
}
command.remove(indexP2);
int angle = command.substring(indexP1 + 1).toInt();
angle = strtok(command, "()");
angle = strtok(NULL, "()");
return strtol(angle, NULL, 10);
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);
digitalWrite(az, HIGH);
digitalWrite(ledPin, LOW);
ourServo.attach(servoPin);
ourServo.write(90);
@ -83,28 +104,35 @@ void setup() {
*/
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';
long 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);
}
String command;
char currentChar;
int i = 0;
bool readable = true;
command = Serial.readString();
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) {
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;
}