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[ES] Added blatt3

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Signed-off-by: Jim Martens <github@2martens.de>
This commit is contained in:
Jim Martens
2015-05-05 16:11:20 +02:00
parent 18f51b5090
commit 990ef2f943
3 changed files with 237 additions and 0 deletions
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77
es/blatt3/uebung3-1-test/uebung3-1-test.ino Normal file
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// these variables describe the used hardware pins
// adjust them when you use other pins
// hardware pins
int az = 50;
int xout = A1;
int zout = A3;
int vref = A0;
// used to achieve a 10 Hz frequency
// don't touch them
int rc = 1049999;
bool volatile read_ready = false;
/**
* Setup function for initial setup code
*/
void setup() {
pmc_set_writeprotect(false);
pmc_enable_periph_clk(ID_TC0);
// configure hardware timer
TC_Configure(TC0, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
TC_SetRC(TC0, 0, rc);
TC0->TC_CHANNEL[0].TC_IER=TC_IER_CPCS; // IER = interrupt enable register
TC0->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_ClearPendingIRQ(TC0_IRQn);
NVIC_EnableIRQ(TC0_IRQn);
// start hardware timer
TC_Start(TC0, 0);
// Configure axis pins for input mode
pinMode(az, OUTPUT);
digitalWrite(az, HIGH);
// initialize serial port
Serial.begin(9600);
}
/**
* Loop function for main code
*/
void loop() {
Serial.println("NOTHING HAPPENS");
/*if (read_ready) {
int xAxis = analogRead(xout);
int zAxis = analogRead(zout);
int ref = analogRead(vref);
int differenceXRef = xAxis - ref;
int differenceZRef = zAxis - ref;
Serial.print("x:");
Serial.println(xAxis);
Serial.print("z: ");
Serial.println(zAxis);
Serial.print("x - ref: ");
Serial.println(differenceXRef);
Serial.print("z - ref: ");
Serial.println(differenceZRef);
read_ready = false;
}*/
}
/**
* Used to handle the timer.
*/
void TC0_Handler()
{
// request static for some magic behind the curtain
TC_GetStatus(TC0, 0);
read_ready = true;
}

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es/blatt3/uebung3-1/uebung3-1.ino Normal file
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// these variables describe the used hardware pins
// adjust them when you use other pins
// hardware pins
int az = 50;
int xout = A1;
int zout = A3;
int vref = A0;
// used to achieve a 10 Hz frequency
// don't touch them
int rc = 1049999;
bool volatile read_ready = false;
/**
* Setup function for initial setup code
*/
void setup() {
pmc_set_writeprotect(false);
pmc_enable_periph_clk(ID_TC0);
// configure hardware timer
TC_Configure(TC0, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
TC_SetRC(TC0, 0, rc);
TC0->TC_CHANNEL[0].TC_IER=TC_IER_CPCS; // IER = interrupt enable register
TC0->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_ClearPendingIRQ(TC0_IRQn);
NVIC_EnableIRQ(TC0_IRQn);
// start hardware timer
TC_Start(TC0, 0);
// Configure axis pins for input mode
pinMode(az, OUTPUT);
digitalWrite(az, HIGH);
// initialize serial port
Serial.begin(9600);
delay(100);
}
/**
* Loop function for main code
*/
void loop() {
if (read_ready) {
int xAxis = analogRead(xout);
int zAxis = analogRead(zout);
int ref = analogRead(vref);
double differenceXRef = xAxis - ref;
double differenceZRef = zAxis - ref;
double drehrateX = differenceXRef / 9.1;
double drehrateZ = differenceZRef / 9.1;
Serial.print("x:");
Serial.println(xAxis);
Serial.print("z: ");
Serial.println(zAxis);
Serial.print("ref: ");
Serial.println(ref);
Serial.print("x - ref: ");
Serial.println(differenceXRef);
Serial.print("z - ref: ");
Serial.println(differenceZRef);
Serial.print("Drehrate X: ");
Serial.println(drehrateX);
Serial.print("Drehrate Z: ");
Serial.println(drehrateZ);
read_ready = false;
}
}
/**
* Used to handle the timer.
*/
void TC0_Handler()
{
// request static for some magic behind the curtain
TC_GetStatus(TC0, 0);
read_ready = true;
}

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es/blatt3/uebung3-2/uebung3-2.ino Normal file
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#include <Servo.h>
// these variables describe the used hardware pins
// adjust them when you use other pins
// hardware pins
int az = 50;
int xout = A1;
int zout = A3;
int vref = A0;
// servo
int servoPin = 11;
Servo ourServo;
// used to achieve a 10 Hz frequency
// don't touch them
int rc = 1049999;
bool volatile read_ready = false;
/**
* Setup function for initial setup code
*/
void setup() {
pmc_set_writeprotect(false);
pmc_enable_periph_clk(ID_TC0);
// configure hardware timer
TC_Configure(TC1, 0, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
TC_SetRC(TC1, 0, rc);
TC1->TC_CHANNEL[0].TC_IER=TC_IER_CPCS; // IER = interrupt enable register
TC1->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
NVIC_ClearPendingIRQ(TC1_IRQn);
NVIC_EnableIRQ(TC1_IRQn);
// start hardware timer
//TC_Start(TC0, 0);
// Configure servo
ourServo.attach(servoPin);
ourServo.write(90);
pinMode(az, OUTPUT);
pinMode(servoPin, OUTPUT);
digitalWrite(az, HIGH);
// initialize serial port
Serial.begin(9600);
}
/**
* Loop function for main code
*/
void loop() {
for (int i = 0; i < 90; i++) {
ourServo.write(90 + i);
delay(10);
}
Serial.println(ourServo.read());
}
/**
* Used to handle the timer.
*/
void TC1_Handler()
{
// request static for some magic behind the curtain
TC_GetStatus(TC1, 0);
}