[ES] Aufgabenblatt 4 beendet

Signed-off-by: Jim Martens <github@2martens.de>
2026-05-06 19:36:26 +02:00 · 2015-06-16 16:07:39 +02:00
parent 308773a921
commit bbbf1c47ff
2 changed files with 168 additions and 15 deletions
--- a/es/blatt4/uebung4-3/uebung4-3.ino
+++ b/es/blatt4/uebung4-3/uebung4-3.ino
@ -0,0 +1,150 @@
+#include <Servo.h>
+#include <Wire.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;
+int slaveAddress = 4;
+// 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
+*/
+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() {
+  Wire.begin();
+  
+  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);
+  
+  pinMode(ledPin, OUTPUT);
+  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) {
+    
+    // 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.
+*/
+void TC1_Handler()
+{
+  // request static for some magic behind the curtain
+  TC_GetStatus(TC0, 1);
+  read_ready = true;
+  requestValues();
+  //zAxis = analogRead(zout);
+  //ref = analogRead(vref);
+  //differenceZRef = zAxis - ref;
+  differenceZRef = (differenceZRef * 5000) / 1024;
+  rotationZ = (differenceZRef / 9.1);
+  if (fabs(rotationZ) > 4) {
+    currentServoPos = ourServo.read();
+    newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ / 10);
+  }
+}
+
+void requestValues()
+{
+  // request zAxis
+  Wire.requestFrom(slaveAddress, 4);
+  int result = 0;
+  int i = 1;
+  while (Wire.available()) {
+    uint8_t x = (uint8_t) Wire.read();
+    result = result | ((x) << ((sizeof(int) - i)*8));
+    i++;
+  }
+  differenceZRef = (double) result;
+  Serial.print("Got: ");
+  Serial.println(result);
+}
+
+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;
+}