Diff: main.cpp

Revision:

0:ad525f3cd781

Child:

1:f246d2321c06

diff -r 000000000000 -r ad525f3cd781 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Sep 09 13:44:36 2017 +0000
@@ -0,0 +1,173 @@
+#include "mbed.h"
+#define MAXPOS 50
+#define SS_TIME 500
+ 
+PwmOut myServoX(PB_3);
+PwmOut myServoY(PB_4);
+PwmOut myServoZ(PB_10);
+ 
+ 
+int coord2us(float coord)
+    {
+    if(0 <= coord <= MAXPOS)
+        return int(750+coord*1900/50);// u6
+    return 750;
+    }
+ 
+void vertex2d(float x, float y) 
+    {
+    int pulseX = coord2us(x);
+    int pulseY = coord2us(y);
+    
+    myServoX.pulsewidth_us(pulseX);
+    myServoY.pulsewidth_us(pulseY);
+        wait_ms(SS_TIME);
+    }
+    
+  
+    
+void home()
+    {
+
+    vertex2d(0,0);
+       myServoZ.pulsewidth_us(MAXPOS);
+    }    
+ 
+void maxpos()
+    {
+    vertex2d(MAXPOS,MAXPOS);
+    }    
+ 
+void diag()
+    {
+  /*  wait(2);vertex2d(0,0);
+    wait(2);vertex2d(10,10);
+    wait(2);vertex2d(20,20);
+    wait(2);vertex2d(30,30);
+    wait(2);vertex2d(40,40);
+    
+    
+    
+    wait(1);vertex2d(0,0);   
+    wait(1);vertex2d(40,0);   
+    wait(1);vertex2d(40,40);   
+    wait(1);vertex2d(0,40);
+    wait(1);vertex2d(0,0);   */
+        }
+        
+void cuadrado()
+    {
+        float l=20;
+        float a=10;
+        float b=10;
+        
+        myServoZ.pulsewidth_us(MAXPOS);
+        vertex2d(a,b);     
+        myServoX.pulsewidth_us(100);  
+        a=a+l;
+        vertex2d(a,b);
+        b=b+l;
+        vertex2d(a,b);
+        a=a-l;
+        vertex2d(a,b);
+        b=b-l;
+        vertex2d(a,b);
+         }        
+ 
+void line(int x0, int y0, int x1, int y1) {        
+        home();
+        wait(2);
+        vertex2d(x0,y0);
+bool steep = abs(y1 - y0) > abs(x1 - x0);
+int temp, deltax, deltay, error, y, x;
+    if (steep) {
+        temp = y0;
+        y0 = x0;
+        x0 = temp;
+        temp = y1;
+        y1 = x1;
+        x1 = temp;
+    }
+    if (x0 > x1) {
+        temp = x1;
+        x1 = x0;
+        x0 = temp;
+        temp = y1;
+        y1 = y0;
+        y0 = temp;
+    }
+    
+    deltax = x1 - x0;  
+    deltay = abs(y1 - y0);
+    error = deltax / 2;
+    y = y0;
+    /*if (y0 < y1) {
+        ystep = 1;
+    } else {
+        ystep = -1;
+    }*/
+    for (x=x0; x<=x1; x++) {
+        if (steep) {
+           vertex2d(y,x);
+        } else {
+            vertex2d(x,y);
+        }
+        }
+    }
+
+void circle(int cx, int cy, int radius)    {
+        
+    int x = 0;
+    int y = radius;
+    int d = 3 - (2 * radius);
+        
+        home();
+        wait(2);
+        vertex2d(cx,cy);
+        myServoX.pulsewidth_us(100); 
+        myServoZ.pulsewidth_us(MAXPOS);
+        /*cx=cx+radius;
+        vertex2d(cx,cy);*/
+        myServoX.pulsewidth_us(100);       
+        
+        while (x <= y) {
+        vertex2d(cx + x, cy + y);
+        vertex2d(cx + y, cy + x);
+        vertex2d(cx - x, cy + y);
+        vertex2d(cx + y, cy - x);
+        vertex2d(cx - x, cy - y);
+        vertex2d(cx - y, cy - x);
+        vertex2d(cx + x, cy - y);
+        vertex2d(cx - y, cy + x);
+ 
+        if (d<0){
+            d += (4 * x) + 6;
+        } else
+        {
+            d += (4 * (x - y)) + 10;
+            y--;
+        }
+        x++;
+    }
+         }
+ 
+ int main() 
+ {
+     // configuracion de  periodo
+    myServoX.period_ms(20);
+    myServoY.period_ms(20);
+    myServoZ.period_ms(20);
+    
+    while(1)
+    {
+     home();
+     wait(3);
+    maxpos();    
+     wait(3);
+     //diag();
+     cuadrado();
+          wait(3);
+     
+     }
+ 
+} 
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