[ES] Finished 3.2 and 3.3

Signed-off-by: Jim Martens <github@2martens.de>

es/blatt3/uebung3-2/uebung3-2.ino

@@ -1,4 +1,4 @@
-#include <Servo>
+#include <Servo.h>
 
 // these variables describe the used hardware pins
 // adjust them when you use other pins
@@ -12,6 +12,9 @@ Servo ourServo;
 // don't touch them
 long rc = 1049999;
 
+// borders
+int currentMax = 25;
+
 /**
  * Setup function for initial setup code
  */
@@ -28,19 +31,43 @@ void setup() {
  * Loop function for main code
  */
 void loop() {
-  for (int i = 90; i <= 180; ++i) {
-    ourServo.write(i);
-    delay(10);
+  while (currentMax < 70) {
+    move();
+    Serial.print("currentMax: ");
+    Serial.println(currentMax);
+    if (currentMax < 70) {
+      currentMax += 5;
+    }
   }
+  currentMax = 65;
+  while (currentMax > 20) {
+    move();
+    Serial.print("currentMax: ");
+    Serial.println(currentMax);
+    if (currentMax > 20) {
+      currentMax -= 5;
+    }
+  }
+  currentMax = 25;
   delay(1000);
-  for (int i = 180; i >= 0; --i) {
-    ourServo.write(i);
-    delay(10);
-  }
-  delay(1000);
-  for (int i = 0; i <= 90; ++i) {
-    ourServo.write(i);
-    delay(10);
-  }
-  delay(2000);
+}
+
+void move() {
+  int currentPos = 90;
+  int currentMin = 90 - currentMax;
+  for (int i = 0; i <= currentMax; ++i) {
+    ourServo.write(90 + i);
+    currentPos = 90 + i;
+    delay(10);
+  }
+  for (int i = currentPos; i >= currentMin; --i) {
+    ourServo.write(i);
+    currentPos = i;
+    delay(10);
+  }
+  for (int i = currentPos; i <= 90; ++i) {
+    ourServo.write(i);
+    currentPos = i;
+    delay(10);
+  }
 }

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

@@ -1,13 +1,13 @@
-#include <Servo>
+#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;
+int xout = A4;
+int zout = A2;
+int vref = A3;
 int ledPin = 13;
 
 // servo
@@ -19,9 +19,9 @@ int servoPin = 11;
 long rc = 1049999;
 
 // flags for servo
-bool cwMaxReached = false;
-bool ccwMaxReached = false;
-bool lightLED = false;
+bool volatile cwMaxReached = false;
+bool volatile ccwMaxReached = false;
+bool volatile lightLED = false;
 
 bool volatile read_ready = false;
 
@@ -29,36 +29,19 @@ bool volatile read_ready = false;
  * Calculates the servo position.
  *
  * @param int currentServoPos
- * @param int rotationX
+ * @param int rotationZ
  */
-int calculate_new_servo_pos(int currentServoPos, int rotationX) {
-    int newServoPos = currentServoPos;
+int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
+    int newServoPos = currentServoPos + rotationZ;
 
-    if (!cwMaxReached && !ccwMaxReached) {
-        // clockwise rotation from 90 to 180
-        newServoPos = currentServoPos + rotationX;
-    }
-    else if (cwMaxReached && !ccwMaxReached) {
-        // counter clockwise rotation from 180 to 0
-        newServoPos = currentServoPos - rotationX;
-    }
-    else if (cwMaxReached && ccwMaxReached) {
-        // clockwise rotation from 0 to 90
-        newServoPos = currentServoPos + rotationX;
-        if (newServoPos >= 90) {
-            cwMaxReached = false;
-            ccwMaxReached = false;
-        }
-    }
-
-    if (newServoPos > 180) {
-        newServoPos = 180;
+    if (newServoPos > 159) {
+        newServoPos = 159;
         cwMaxReached = true;
         lightLED = true;
     }
 
-    if (newServoPos < 0) {
-        newServoPos = 0;
+    if (newServoPos < 25) {
+        newServoPos = 25;
         ccwMaxReached = true;
         lightLED = true;
     }
@@ -74,17 +57,17 @@ void setup() {
     pmc_enable_periph_clk(ID_TC1);
 
     // 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);
+    TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
+    TC_SetRC(TC0, 1, rc);
 
-    TC1->TC_CHANNEL[0].TC_IER=TC_IER_CPCS;   // IER = interrupt enable register
-    TC1->TC_CHANNEL[0].TC_IDR=~TC_IER_CPCS;
+    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(TC1, 0);
+    TC_Start(TC0, 1);
 
     // Configure pins
     pinMode(ledPin, OUTPUT);
@@ -104,15 +87,24 @@ void setup() {
  */
 void loop() {
     if (read_ready) {
-        int xAxis = analogRead(xout);
+        int zAxis = analogRead(zout);
         int ref = analogRead(vref);
 
-        double differenceXRef = xAxis - ref;
-        double rotationX = differenceXRef / 9.1;
+        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, rotationX);
-
+        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);
@@ -127,9 +119,9 @@ void loop() {
             digitalWrite(ledPin, LOW);
             lightLED = false;
         }
-        ourServo.write(newServoPos);
+        ourServo.write(newServoPos + 1);
         read_ready = false;
-    }
+    }    
 }
 
 /**
@@ -138,6 +130,6 @@ void loop() {
 void TC1_Handler()
 {
     // request static for some magic behind the curtain
-    TC_GetStatus(TC1, 0);
+    TC_GetStatus(TC0, 1);
     read_ready = true;
 }