Piccolo
/
Piccolo_1C_Funciones
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Dependencies: mbed
Fork of
Piccolo_1C_Funciones
by 
Heidy Vanessa Vasquez Valencia
Revision 2:f52a2c0dedb4, committed 2017-10-06
- Comitter:
- Vanessa620
- Date:
- Fri Oct 06 04:35:58 2017 +0000
- Parent:
- 1:f246d2321c06
- Commit message:
- SIS.EMB.PICOLO.V1
Changed in this revision
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/main.cpp Sat Sep 09 14:00:12 2017 +0000
+++ b/main.cpp Fri Oct 06 04:35:58 2017 +0000
@@ -1,6 +1,8 @@
#include "mbed.h"
-#define MAXPOS 50
-#define SS_TIME 500
+#include "math.h"
+#define MAXPOS 50 // maxposX : 5.5cm ; maxposY : 4.5cm
+#define SS_TIME 500
+#define PI 3.1415926
PwmOut myServoX(PB_3);
PwmOut myServoY(PB_4);
@@ -8,18 +10,17 @@
int coord2us(float coord)
- {
+{
if(0 <= coord <= MAXPOS)
return int(750+coord*1900/50);// u6
- return 750;
- }
-
-void vertex2d(float x, float y)
+ //return 750;
+ }
+void vertex2d(float y) //, float y
{
- int pulseX = coord2us(x);
- int pulseY = coord2us(y);
+ // int pulseX = coord2us(x);
+ int pulseY = coord2us(y);
- myServoX.pulsewidth_us(pulseX);
+ //myServoX.pulsewidth_us(pulseX);
myServoY.pulsewidth_us(pulseY);
wait_ms(SS_TIME);
}
@@ -28,130 +29,147 @@
void home()
{
-
- vertex2d(0,0);
- myServoZ.pulsewidth_us(MAXPOS);
- }
+ vertex2d(0);
+ }
void maxpos()
{
- vertex2d(MAXPOS,MAXPOS);
+ vertex2d(MAXPOS);
}
+ /*
+void cuadrado(int x, int y, int l)
+ {
+ float a;
+ float b;
+
+ wait(2);vertex2d(a,b);
+ printf("position x =%.2f\n",a);
+ printf("position y =%.2f\n",b);
+ a=a+l;
+ wait(2);vertex2d(a,b);
+ printf("position x =%.2f\n",a);
+ printf("position y =%.2f\n",b);
+ b=b+l;
+ wait(2);vertex2d(a,b);
+ printf("position x =%.2f\n",a);
+ printf("position y =%.2f\n",b);
+ a=a-l;
+ wait(2);vertex2d(a,b);
+ printf("position x =%.2f\n",a);
+ printf("position y =%.2f\n",b);
+ b=b-l;
+ wait(2);vertex2d(a,b);
+ printf("position x =%.2f\n",a);
+ printf("position y =%.2f\n",b);
+
+ vertex2d(x,y);
+ // wait(2);
+ a=x+l;
+ vertex2d(a,y);
+ //wait(2);
+ b=y+l;
+ vertex2d(a,b);
+ //wait(2);
+ vertex2d(x,b);
+ // wait(2);
+ vertex2d(x,y);
+ }
void diag()
{
- /* wait(2);vertex2d(0,0);
+ 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(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(int x, int y, int lado)
- {
- float l=lado;
- float a=x;
- float b=y;
-
- 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;
- }
+ wait(1);vertex2d(0,0);
- 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);
+ wait(1);vertex2d(10,0);
+ wait(1);vertex2d(10,40);
+ wait(1);vertex2d(20,40);
+ wait(1);vertex2d(20,0);
+ wait(1);vertex2d(30,0);
+ wait(1);vertex2d(30,40);
+ wait(1);vertex2d(40,40);
+ wait(1);vertex2d(40,0);
}
- }
- }
+
+
+
+ void Pendiente(int x0,int y0,int x1,int y1)
+{
+float x;
+float y;
+float m;
+for(x=x0; x<=x1; x=x+1)
+{
+m=(y1-y0)/(x1-x0);
+y=m*(x-x0)+y0;
+vertex2d(x,y);
+ printf("position x =%.2f\n",x);
+ printf("position y =%.2f\n",y);
+}
+*/
+/*
+ vertex2d(x0,y0);
+ //wait(2);
+ vertex2d(x1,y1);
+}
-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);
+void circle(float cx, float cy, float radio)
+ {
+ float y;
+ float x;
+ wait(2); vertex2d(cx,cy);
+
+
+ for(double i=PI/2; i<=PI ;i=i+0.5)
+ {
+ x=radio*cos(i);
+ y=radio*sin(i);
+ vertex2d(cx-x,cy-y);
+ printf("position x =%.2f\n",x);
+ printf("position y =%.2f\n",y);
+ }
+ wait(1);
+ for(double i=0; i<=PI/2 ;i+=0.5)
+ {
+ x=radio*cos(i);
+ y=radio*sin(i);
+ vertex2d(x+cx,y+cy);
+ printf("position x =%.2f\n",x);
+ printf("position y =%.2f\n",y);
+ }
+
+ for(double i=PI; i<=(3*PI)/2 ;i=i+0.5)
+ {
+ x=radio*cos(i);
+ y=radio*sin(i);
+ vertex2d(x+y,cx+cy);
+ printf("position x =%.2f\n",x);
+ printf("position y =%.2f\n",y);
+ }*/
+ /*
+ for(double i=3*PI/2; i<=2*PI ;i=i+0.1)
+ {
+ x=radio*cos(i);
+ y=radio*sin(i);
+ vertex2d(cx+x,cy-y);
+ printf("position x =%.2f\n",x);
+ printf("position y =%.2f\n",y);
+ }
+ }
- if (d<0){
- d += (4 * x) + 6;
- } else
- {
- d += (4 * (x - y)) + 10;
- y--;
- }
- x++;
- }
- }
+ void Pendiente(int x0,int y0,int x1,int y1);
- int main()
+ */
+
+ int main()
{
// configuracion de periodo
myServoX.period_ms(20);
@@ -159,19 +177,39 @@
myServoZ.period_ms(20);
while(1)
- {
- home();
- wait(3);
+ {
+ home();
+ wait(2);
maxpos();
- wait(3);
- //diag();
- cuadrado(10,10,20);
- wait(3);
- line(20,20,40,40);
- wait(3);
- circle(20,20,20);
- wait(3);
-
- }
-
+ wait(2);
+ home();
+
+
+ /* wait(3);
+ //Pendiente(30,35,15,20);
+ //Pendiente(15,20,0,35);
+ //Pendiente(0,35,15,50);
+ //wait(3);
+ //Pendiente(15,50,30,35);
+ //wait(3);
+
+ wait(3);
+
+ Pendiente(30,20,30,40);
+ Pendiente(30,40,40,40);
+ Pendiente(40,40,40,20);
+ Pendiente(40,20,30,20);
+ wait(3);
+ Pendiente(20,0,50,0);
+ Pendiente(50,0,50,10);
+ Pendiente(50,10,30,15);
+
+ cuadrado(0,0,10);
+ wait(2);
+ circle(30,0,15);
+ wait(3);
+
+ diag();
+ */
+}
}
\ No newline at end of file