[ES] Aufgaben 2.2 und 2.3 fertiggestellt

es/blatt2/uebung2-2/uebung2-2.ino

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+// these variables describe the used hardware pins
+// adjust them when you use other pins
+// hardware pins
+int pwm = 5;
+int cw = 4;
+int ccw = 3;
+int standby = 2;
+
+// this variables are affected by the buttonOne and buttonTwo actions
+// represents the motor state, can be 0 (clockwise rotation), 1 (counter-clockwise rotation) or 2 (motor stopped)
+int volatile motorState = 0;
+// represents the power of the motor (range from 0 to 100)
+int volatile motorPower = 0;
+bool volatile motorPowerMaxReached = false;
+
+// used to achieve a 1kHz frequency
+// don't touch them
+int compareValue = 60;
+int rc = 10499;
+
+int buttonOnePin;
+int buttonTwoPin;
+
+// these values are used by the TC0_Handler
+// do not use them at all
+int timesPressedOne = 0;
+int timesPressedTwo = 0;
+bool buttonOneActionPerformed = false;
+bool buttonTwoActionPerformed = 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 button pins for input mode
+  //pinMode(buttonOnePin, INPUT);
+  //pinMode(buttonTwoPin, INPUT);
+  
+  // configure pins
+  pinMode(pwm, OUTPUT);
+  pinMode(cw, OUTPUT);
+  pinMode(ccw, OUTPUT);
+  pinMode(standby, OUTPUT);
+  digitalWrite(standby, HIGH);
+
+  // initialize serial port
+  Serial.begin(9600);
+}
+
+/**
+ * Loop function for main code
+ */
+void loop() {
+  slowStart();
+  slowStop();
+  turnaround();
+}
+
+void slowStart() {
+  for (int i = 0; i < 255; i++) {
+    analogWrite(pwm, i);
+    motorPower++;
+    delay(20);
+  }
+}
+
+void slowStop() {
+  for (motorPower; motorPower >= 0; motorPower--) {
+    analogWrite(pwm, motorPower);
+    delay(8);
+  }
+}
+
+void turnaround() {
+  switch (motorState) {
+    case 0: 
+      motorState = 1;
+      digitalWrite(cw, false);
+      digitalWrite(ccw, true);
+      break;
+    case 1: 
+      motorState = 0;
+      digitalWrite(cw, true);
+      digitalWrite(ccw, false);
+      break;
+  }
+  
+}
+    
+
+/**
+ * Performs the action for button one.
+ *
+ * Has to be changed for the specific use case.
+ */
+void buttonOneAction() {
+  if (motorState < 2) {
+    motorState += 1;
+  }
+  else {
+    motorState = 0;
+  }
+}
+
+/**
+ * Performs the action for button two.
+ *
+ * Has to be changed for the specific use case.
+ */
+void buttonTwoAction() {
+  if (!motorPowerMaxReached && motorPower < 100) {
+    motorPower += 1;
+  }
+  if (motorPowerMaxReached && motorPower > 0) {
+    motorPower -= 1;
+  }
+  if (motorPowerMaxReached && motorPower == 0) {
+    motorPowerMaxReached = false;
+  }
+  if (!motorPowerMaxReached && motorPower == 100) {
+    motorPowerMaxReached = true;
+  }
+}
+
+/**
+ * Used to increase/decrease a counter when the corresponding button is pressed.
+ */
+void TC0_Handler()
+{
+  // request static for some magic behind the curtain
+  TC_GetStatus(TC0, 0);
+  // variables used to determine if the corresponding button is pressed
+  bool buttonPressedOne = (digitalRead(buttonOnePin) == LOW);
+  bool buttonPressedTwo = (digitalRead(buttonTwoPin) == LOW);
+
+  // handles the plus button
+  if (buttonPressedOne){
+    timesPressedOne += 1;
+  }
+  else {
+    if (buttonOneActionPerformed) {
+      buttonOneActionPerformed = false;
+    }
+    timesPressedOne = 0 ;
+  }
+
+  // handles the minus button
+  if (buttonPressedTwo){
+    timesPressedTwo += 1;
+  }
+  else {
+    if (buttonTwoActionPerformed) {
+      buttonTwoActionPerformed = false;
+    }
+    timesPressedTwo = 0 ;
+  }
+
+  // performs button one action if button has been pressed long enough
+  if (timesPressedOne >= compareValue) {
+    if (!buttonOneActionPerformed) {
+      buttonOneAction();
+    }
+    buttonOneActionPerformed = true;
+    timesPressedOne = 0;
+  }
+
+  // performs button two action if button has been pressed long enough
+  if (timesPressedTwo >= compareValue) {
+    if (!buttonTwoActionPerformed) {
+      buttonTwoAction();
+    }
+    buttonTwoActionPerformed = true;
+    timesPressedTwo = 0;
+  }
+}