tut6.ino

#define analogInPin 0
const float Pi = 3.141592;
char sensorValue[480];
char outputValue[480];
int number,frameCurrent;
int pos0value, pos90value;
void setup() {
 Serial.begin(38400);
 for(int n=0;n<480;n++){
 outputValue[n]=(char)127*sin((float)2*Pi*n/48)+127;
}
 TCCR1B=1;
 TCCR0B=1;
 TCCR2A = 0;
 TCCR2B = 4;
 TIMSK2 = 1<<TOIE2;
 TCNT2 = 0xce;
}
void loop() {
 if (frameCurrent>0){
 float sinX = (float)(pos90value - 712) / 105;
 float cosX = (float)(pos0value - 712) / 105;
 Serial.print(atan2(sinX,cosX)/Pi * 180);
 Serial.print('\t');
 Serial.println((float)analogRead(A1)/1023 * 10 * 360 - 320);
 frameCurrent = 0;
 }

}
ISR(TIMER2_OVF_vect) {
 if(number == 0) pos0value = analogRead(analogInPin);
 if(number == 11) pos90value = analogRead(analogInPin);
 TCNT2 = 0xce;
 analogWrite(9, outputValue[number]);
 analogWrite(5, outputValue[(number+16)%480]);
 analogWrite(6, outputValue[(number+32)%480]);
 sensorValue[number]=analogRead(analogInPin)/8;
value)
 number++;
 if(number>479) {number=0;frameCurrent++; }
}