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136 lines
3.0 KiB
C++
136 lines
3.0 KiB
C++
#include <Servo.h>
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// these variables describe the used hardware pins
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// adjust them when you use other pins
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// hardware pins
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int az = 50;
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int xout = A4;
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int zout = A2;
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int vref = A3;
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int ledPin = 13;
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// servo
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Servo ourServo;
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int servoPin = 11;
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// used to achieve a 10 Hz frequency
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// don't touch them
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long rc = 1049999;
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// flags for servo
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bool volatile cwMaxReached = false;
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bool volatile ccwMaxReached = false;
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bool volatile lightLED = false;
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bool volatile read_ready = false;
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/**
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* Calculates the servo position.
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*
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* @param int currentServoPos
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* @param int rotationZ
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*/
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int calculate_new_servo_pos(int currentServoPos, int rotationZ) {
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int newServoPos = currentServoPos + rotationZ;
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if (newServoPos > 159) {
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newServoPos = 159;
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cwMaxReached = true;
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lightLED = true;
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}
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if (newServoPos < 25) {
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newServoPos = 25;
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ccwMaxReached = true;
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lightLED = true;
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}
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return newServoPos;
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}
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/**
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* Setup function for initial setup code
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*/
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void setup() {
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pmc_set_writeprotect(false);
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pmc_enable_periph_clk(ID_TC1);
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// configure hardware timer
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TC_Configure(TC0, 1, TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC | TC_CMR_TCCLKS_TIMER_CLOCK2) ;
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TC_SetRC(TC0, 1, rc);
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TC0->TC_CHANNEL[1].TC_IER=TC_IER_CPCS; // IER = interrupt enable register
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TC0->TC_CHANNEL[1].TC_IDR=~TC_IER_CPCS;
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NVIC_ClearPendingIRQ(TC1_IRQn);
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NVIC_EnableIRQ(TC1_IRQn);
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// start hardware timer
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TC_Start(TC0, 1);
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// Configure pins
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pinMode(ledPin, OUTPUT);
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pinMode(az, OUTPUT);
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digitalWrite(az, HIGH);
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digitalWrite(ledPin, LOW);
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ourServo.attach(servoPin);
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ourServo.write(90);
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// initialize serial port
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Serial.begin(9600);
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}
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/**
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* Loop function for main code
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*/
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void loop() {
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if (read_ready) {
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int zAxis = analogRead(zout);
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int ref = analogRead(vref);
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double differenceZRef = zAxis - ref;
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double rotationZ = differenceZRef / 9.1;
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Serial.print("rotationZ: ");
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Serial.println(rotationZ);
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int currentServoPos = ourServo.read();
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int newServoPos = calculate_new_servo_pos(currentServoPos, rotationZ);
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Serial.print("currentServoPos: ");
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Serial.println(currentServoPos);
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Serial.print("newServoPos: ");
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Serial.println(newServoPos);
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if (lightLED) {
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digitalWrite(ledPin, HIGH);
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delay(10);
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digitalWrite(ledPin, LOW);
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delay(10);
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digitalWrite(ledPin, HIGH);
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delay(10);
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digitalWrite(ledPin, LOW);
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delay(10);
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digitalWrite(ledPin, HIGH);
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delay(10);
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digitalWrite(ledPin, LOW);
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lightLED = false;
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}
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ourServo.write(newServoPos + 1);
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read_ready = false;
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}
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}
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/**
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* Used to handle the timer.
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*/
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void TC1_Handler()
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{
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// request static for some magic behind the curtain
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TC_GetStatus(TC0, 1);
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read_ready = true;
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}
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