Sist. Piccolo / Mbed 2 deprecated Final_entrega

Esta última actualización contiene el código funcional en las 10 funciones.

Dependencies:   mbed

Fork of jc by Sist. Piccolo

main.cpp@1:a9b3fdab473e, 2017-11-21 (annotated)

Committer:
VaLaraC
Date:
Tue Nov 21 20:05:14 2017 +0000
Revision:
1:a9b3fdab473e
Parent:
0:9aa960516df7
Child:
2:773082426491
Follow updates

Who changed what in which revision?

UserRevisionLine numberNew contents of line
VaLaraC 0:9aa960516df7 1 #include "mbed.h"
VaLaraC 0:9aa960516df7 2 #include "math.h"
VaLaraC 0:9aa960516df7 3 #include "cstdlib"
VaLaraC 0:9aa960516df7 4 #define MAXPOS 255
VaLaraC 0:9aa960516df7 5 #define SS_TIME 500
VaLaraC 0:9aa960516df7 6 #define POSDRAW 300
VaLaraC 0:9aa960516df7 7 #define BUFF_SIZE 6
VaLaraC 0:9aa960516df7 8 #define COMM_N 0
VaLaraC 0:9aa960516df7 9 #define INITPARAMETER 1
VaLaraC 0:9aa960516df7 10 #define DEBUG 1
VaLaraC 0:9aa960516df7 11 #define BUFF_POS 6
VaLaraC 0:9aa960516df7 12
VaLaraC 0:9aa960516df7 13 PwmOut myServoX(PB_3); //MOTOR EJE X
VaLaraC 0:9aa960516df7 14 PwmOut myServoY(PB_4); //MOTOR EJE Y
VaLaraC 0:9aa960516df7 15 PwmOut myServoZ(PB_10);//MOTOR EJE Z
VaLaraC 0:9aa960516df7 16
VaLaraC 0:9aa960516df7 17 Serial command(USBTX, USBRX); //COMUNICACION SERIAL
VaLaraC 0:9aa960516df7 18 Serial Sdebug(USBTX, USBRX);
VaLaraC 0:9aa960516df7 19 DigitalOut led(LED1); //DECLARACION LED DE LA PLACA
VaLaraC 0:9aa960516df7 20 InterruptIn mybutton(USER_BUTTON);
VaLaraC 0:9aa960516df7 21
VaLaraC 0:9aa960516df7 22 // COMANDOS
VaLaraC 0:9aa960516df7 23 #define LED 0
VaLaraC 0:9aa960516df7 24 #define PUNTO 1
VaLaraC 0:9aa960516df7 25 #define LINE 2
VaLaraC 0:9aa960516df7 26 #define RECTANGLE 3
VaLaraC 0:9aa960516df7 27 #define CIRCLE 4
VaLaraC 0:9aa960516df7 28 #define STOP 5
VaLaraC 0:9aa960516df7 29 #define PAUSE 6
VaLaraC 0:9aa960516df7 30 #define REANUDAR 7
VaLaraC 0:9aa960516df7 31 #define RESOLUCION 8
VaLaraC 0:9aa960516df7 32 #define HOME 9
VaLaraC 0:9aa960516df7 33 #define TIEMPO_DE_PASO 10
VaLaraC 0:9aa960516df7 34
VaLaraC 0:9aa960516df7 35 Ticker ticker1;
VaLaraC 0:9aa960516df7 36 Timeout timeout;
VaLaraC 0:9aa960516df7 37
VaLaraC 0:9aa960516df7 38 int rap;
VaLaraC 0:9aa960516df7 39 int RSTEP = 5;
VaLaraC 0:9aa960516df7 40 double abajo=7;
VaLaraC 0:9aa960516df7 41 double arriba=0;
VaLaraC 0:9aa960516df7 42 double k,l,r,tp=50,paso=0;
VaLaraC 0:9aa960516df7 43 int p=0;
VaLaraC 0:9aa960516df7 44
VaLaraC 0:9aa960516df7 45 //*****************************************************************************
VaLaraC 0:9aa960516df7 46 // COMANDO MOVER MOTOR
VaLaraC 0:9aa960516df7 47 // |POS 1|POS 2|POS 3|POS 4| POS 5| POS 6| POS 7|
VaLaraC 0:9aa960516df7 48 // | < | #C | a | b | c | d | > |
VaLaraC 0:9aa960516df7 49 //
VaLaraC 0:9aa960516df7 50 // #C -> indica el comando
VaLaraC 0:9aa960516df7 51 // a,b,c,d parametros del comando
VaLaraC 0:9aa960516df7 52 // <,> -> inicio, y fin de comando
VaLaraC 0:9aa960516df7 53 // el inicio de comando no se almacena en el buffer
VaLaraC 0:9aa960516df7 54 //*****************************************************************************
VaLaraC 0:9aa960516df7 55 // VARIABLES PARA DEFINIR EL COMMANDO
VaLaraC 0:9aa960516df7 56
VaLaraC 0:9aa960516df7 57 uint8_t buffer_command[BUFF_SIZE]={0,0,0,0,0,0};
VaLaraC 0:9aa960516df7 58 float buffer_POS [BUFF_POS]= {0,0,0,0,0,0};
VaLaraC 0:9aa960516df7 59
VaLaraC 0:9aa960516df7 60 void savep();
VaLaraC 0:9aa960516df7 61 void interrupcion();
VaLaraC 0:9aa960516df7 62
VaLaraC 0:9aa960516df7 63 int coord2us(float coord)
VaLaraC 0:9aa960516df7 64 {
VaLaraC 0:9aa960516df7 65 if(0 <= coord <= MAXPOS)
VaLaraC 0:9aa960516df7 66 return int(750+coord*1900/50);// u6
VaLaraC 0:9aa960516df7 67 return 750;
VaLaraC 0:9aa960516df7 68 }
VaLaraC 0:9aa960516df7 69 void print_num(uint8_t val)
VaLaraC 0:9aa960516df7 70 {
VaLaraC 0:9aa960516df7 71 if (val <10)
VaLaraC 0:9aa960516df7 72 command.putc(val+0x30);
VaLaraC 0:9aa960516df7 73 else
VaLaraC 0:9aa960516df7 74 command.putc(val-9+0x40);
VaLaraC 0:9aa960516df7 75 }
VaLaraC 0:9aa960516df7 76 void print_bin2hex (uint8_t val)
VaLaraC 0:9aa960516df7 77 {
VaLaraC 0:9aa960516df7 78 command.printf(" 0x");
VaLaraC 0:9aa960516df7 79 print_num(val>>4);
VaLaraC 0:9aa960516df7 80 print_num(val&0x0f);
VaLaraC 0:9aa960516df7 81 }
VaLaraC 0:9aa960516df7 82 void Read_command()
VaLaraC 0:9aa960516df7 83 {
VaLaraC 0:9aa960516df7 84 for (uint8_t i=0; i<BUFF_SIZE;i++)
VaLaraC 0:9aa960516df7 85 {
VaLaraC 0:9aa960516df7 86 buffer_command[i]=command.getc();
VaLaraC 0:9aa960516df7 87
VaLaraC 0:9aa960516df7 88 }
VaLaraC 0:9aa960516df7 89 }
VaLaraC 0:9aa960516df7 90
VaLaraC 0:9aa960516df7 91 void echo_command()
VaLaraC 0:9aa960516df7 92 {
VaLaraC 0:9aa960516df7 93 for (uint8_t i=0; i<BUFF_SIZE;i++)
VaLaraC 0:9aa960516df7 94 {
VaLaraC 0:9aa960516df7 95 print_bin2hex(buffer_command[i]);
VaLaraC 0:9aa960516df7 96 }
VaLaraC 0:9aa960516df7 97 }
VaLaraC 0:9aa960516df7 98 uint8_t check_command()
VaLaraC 0:9aa960516df7 99 {
VaLaraC 0:9aa960516df7 100 if (buffer_command[BUFF_SIZE-1]== '>')
VaLaraC 0:9aa960516df7 101 return 1;
VaLaraC 0:9aa960516df7 102 return 0;
VaLaraC 0:9aa960516df7 103 }
VaLaraC 0:9aa960516df7 104 void command_led(uint8_t tm)
VaLaraC 0:9aa960516df7 105 {
VaLaraC 0:9aa960516df7 106 #if DEBUG
VaLaraC 0:9aa960516df7 107 command.printf("%i, segundos", tm);
VaLaraC 0:9aa960516df7 108 #endif
VaLaraC 0:9aa960516df7 109 led=1;
VaLaraC 0:9aa960516df7 110 wait(tm);
VaLaraC 0:9aa960516df7 111 led=0;
VaLaraC 0:9aa960516df7 112 }
VaLaraC 0:9aa960516df7 113 void draw()
VaLaraC 0:9aa960516df7 114 {
VaLaraC 0:9aa960516df7 115 myServoZ.pulsewidth_us(POSDRAW);
VaLaraC 0:9aa960516df7 116 wait(1);
VaLaraC 0:9aa960516df7 117 }
VaLaraC 0:9aa960516df7 118 void nodraw()
VaLaraC 0:9aa960516df7 119 {
VaLaraC 0:9aa960516df7 120 myServoZ.pulsewidth_us(MAXPOS);
VaLaraC 0:9aa960516df7 121 wait(1);
VaLaraC 0:9aa960516df7 122 }
VaLaraC 0:9aa960516df7 123 uint8_t SSTIME = 100;
VaLaraC 0:9aa960516df7 124 void tiempo_de_paso(int SST)
VaLaraC 0:9aa960516df7 125 {
VaLaraC 0:9aa960516df7 126 SSTIME=SST;
VaLaraC 0:9aa960516df7 127 #if DEBUG
VaLaraC 0:9aa960516df7 128 command.printf("\nTiempo en pasos definida en:%i\n",SSTIME);
VaLaraC 0:9aa960516df7 129 #endif
VaLaraC 0:9aa960516df7 130 }
VaLaraC 0:9aa960516df7 131 void vertex2d(float x, float y, float z)
VaLaraC 0:9aa960516df7 132 {
VaLaraC 0:9aa960516df7 133 int pulseX = coord2us(x);
VaLaraC 0:9aa960516df7 134 int pulseY = coord2us(y);
VaLaraC 0:9aa960516df7 135 int pulseZ = coord2us(z);
VaLaraC 0:9aa960516df7 136 myServoX.pulsewidth_us(pulseX);
VaLaraC 0:9aa960516df7 137 myServoY.pulsewidth_us(pulseY);
VaLaraC 0:9aa960516df7 138 myServoZ.pulsewidth_us(pulseZ);
VaLaraC 0:9aa960516df7 139 wait_ms(SSTIME);
VaLaraC 0:9aa960516df7 140 }
VaLaraC 0:9aa960516df7 141
VaLaraC 0:9aa960516df7 142 uint8_t posx_old=0; // posición anterior del eje X
VaLaraC 0:9aa960516df7 143 uint8_t posy_old=0; // posición anterior del eje Y
VaLaraC 0:9aa960516df7 144 uint8_t posz_old=0; // posición anterior del eje Y
VaLaraC 0:9aa960516df7 145 uint8_t ss_time=100; // tiempo de espera para moverse 1 mm en microsegundos
VaLaraC 0:9aa960516df7 146
VaLaraC 0:9aa960516df7 147 void put_sstime(uint8_t vtime){
VaLaraC 0:9aa960516df7 148 ss_time=vtime;
VaLaraC 0:9aa960516df7 149 }
VaLaraC 0:9aa960516df7 150 void sstime(uint8_t x, uint8_t y, uint8_t z)
VaLaraC 0:9aa960516df7 151 {
VaLaraC 0:9aa960516df7 152 double dx=abs(x-posx_old);
VaLaraC 0:9aa960516df7 153 double dy=abs(y-posy_old);
VaLaraC 0:9aa960516df7 154 double dz=abs(z-posz_old);
VaLaraC 0:9aa960516df7 155 double dist= sqrt(dx*dx+dy*dy+dz*dz);
VaLaraC 0:9aa960516df7 156 wait_ms((int)(ss_time*dist));
VaLaraC 0:9aa960516df7 157 posx_old=x;
VaLaraC 0:9aa960516df7 158 posy_old=y;
VaLaraC 0:9aa960516df7 159 posy_old=z;
VaLaraC 0:9aa960516df7 160 }
VaLaraC 0:9aa960516df7 161 void initdraw(float x, float y)
VaLaraC 0:9aa960516df7 162 {
VaLaraC 0:9aa960516df7 163 #if DEBUG
VaLaraC 0:9aa960516df7 164 Sdebug.printf("inicia dibujo \n");
VaLaraC 0:9aa960516df7 165 #endif
VaLaraC 0:9aa960516df7 166 vertex2d (x,y,abajo);
VaLaraC 0:9aa960516df7 167 wait(1);
VaLaraC 0:9aa960516df7 168 draw();
VaLaraC 0:9aa960516df7 169 }
VaLaraC 0:9aa960516df7 170
VaLaraC 0:9aa960516df7 171 void resolucion(int res){
VaLaraC 0:9aa960516df7 172 RSTEP = res;
VaLaraC 0:9aa960516df7 173 #if DEBUG
VaLaraC 0:9aa960516df7 174 command.printf("Resolucion definida en = %i \n", RSTEP);
VaLaraC 0:9aa960516df7 175 #endif
VaLaraC 0:9aa960516df7 176 }
VaLaraC 0:9aa960516df7 177 void home()
VaLaraC 0:9aa960516df7 178 {
VaLaraC 0:9aa960516df7 179 vertex2d(0,0,0);
VaLaraC 0:9aa960516df7 180 wait_ms(rap);
VaLaraC 0:9aa960516df7 181 }
VaLaraC 0:9aa960516df7 182 void maxpos()
VaLaraC 0:9aa960516df7 183 {
VaLaraC 0:9aa960516df7 184 vertex2d(250,250,150);
VaLaraC 0:9aa960516df7 185 }
VaLaraC 0:9aa960516df7 186 void punto(uint8_t x, uint8_t y)
VaLaraC 0:9aa960516df7 187 {
VaLaraC 0:9aa960516df7 188 command.printf("Coord x= %i, coord y=%i \n",x,y);
VaLaraC 0:9aa960516df7 189 vertex2d(x,y,0);
VaLaraC 0:9aa960516df7 190 wait_ms(1000);
VaLaraC 0:9aa960516df7 191 vertex2d(x,y,11);
VaLaraC 0:9aa960516df7 192 wait_ms(1000);
VaLaraC 0:9aa960516df7 193 vertex2d(x,y,0);
VaLaraC 0:9aa960516df7 194 wait_ms(1000);
VaLaraC 0:9aa960516df7 195 home();
VaLaraC 0:9aa960516df7 196 }
VaLaraC 0:9aa960516df7 197
VaLaraC 0:9aa960516df7 198 void line(float xi, float xf, float yi, float yf)
VaLaraC 0:9aa960516df7 199 {
VaLaraC 0:9aa960516df7 200 // los parametros son coordenadas iniciales y finales de la linea en milimetros
VaLaraC 0:9aa960516df7 201 #if DEBUG
VaLaraC 0:9aa960516df7 202 Sdebug.printf("linea Xi= %f,Xf= %f,Yi= %f,Yf= %f \n", xi,xf,yi,yf);
VaLaraC 0:9aa960516df7 203 #endif
VaLaraC 0:9aa960516df7 204 float xp; float yp;
VaLaraC 0:9aa960516df7 205 float m= (yf-yi)/(xf-xi);
VaLaraC 0:9aa960516df7 206 float b=(yf-m*xf);
VaLaraC 0:9aa960516df7 207 vertex2d(0,0,4);
VaLaraC 0:9aa960516df7 208 wait(1);
VaLaraC 0:9aa960516df7 209 vertex2d(xi,yi,abajo);
VaLaraC 0:9aa960516df7 210 wait(1);
VaLaraC 0:9aa960516df7 211 for (xp =xi;xp<=xf;xp+=RSTEP)
VaLaraC 0:9aa960516df7 212 {
VaLaraC 0:9aa960516df7 213 yp =m*xp+b;
VaLaraC 0:9aa960516df7 214 vertex2d(xp,yp,abajo);
VaLaraC 1:a9b3fdab473e 215 savep();
VaLaraC 0:9aa960516df7 216
VaLaraC 0:9aa960516df7 217 #if DEBUG
VaLaraC 0:9aa960516df7 218 Sdebug.printf("coord X = %f,coord Y = %f \n", xp,yp);
VaLaraC 0:9aa960516df7 219 #endif
VaLaraC 0:9aa960516df7 220 }
VaLaraC 0:9aa960516df7 221 nodraw();
VaLaraC 0:9aa960516df7 222 home();
VaLaraC 0:9aa960516df7 223 }
VaLaraC 0:9aa960516df7 224 void rectangle(uint8_t xi, uint8_t yi,uint8_t a, uint8_t h)
VaLaraC 0:9aa960516df7 225 {
VaLaraC 0:9aa960516df7 226 int x,y;
VaLaraC 0:9aa960516df7 227 x = a+ xi;
VaLaraC 0:9aa960516df7 228 y = h+ yi;
VaLaraC 0:9aa960516df7 229
VaLaraC 0:9aa960516df7 230 vertex2d(xi,yi,arriba);
VaLaraC 0:9aa960516df7 231 wait_ms(600);
VaLaraC 0:9aa960516df7 232 vertex2d(xi,yi,abajo);
VaLaraC 0:9aa960516df7 233 wait_ms(600);
VaLaraC 0:9aa960516df7 234 vertex2d(x,yi,abajo);
VaLaraC 0:9aa960516df7 235 wait_ms(600);
VaLaraC 0:9aa960516df7 236 vertex2d(x,y,abajo);
VaLaraC 0:9aa960516df7 237 wait_ms(600);
VaLaraC 0:9aa960516df7 238 vertex2d(xi,y,abajo);
VaLaraC 0:9aa960516df7 239 wait_ms(600);
VaLaraC 0:9aa960516df7 240 vertex2d(xi,yi,abajo);
VaLaraC 0:9aa960516df7 241 wait_ms(600);
VaLaraC 0:9aa960516df7 242 home();
VaLaraC 0:9aa960516df7 243 }
VaLaraC 0:9aa960516df7 244 void circle(uint8_t x1, uint8_t y1,uint8_t r)
VaLaraC 0:9aa960516df7 245 {
VaLaraC 0:9aa960516df7 246 double x2,y2,i,j;
VaLaraC 0:9aa960516df7 247 vertex2d(x1 ,y1,arriba);
VaLaraC 0:9aa960516df7 248 wait(1);
VaLaraC 0:9aa960516df7 249 wait_ms(rap);
VaLaraC 0:9aa960516df7 250
VaLaraC 0:9aa960516df7 251 for ( x2=0;x2<=r;x2++){
VaLaraC 0:9aa960516df7 252 y2= pow(((r*r)-(x2*x2)),0.5);
VaLaraC 0:9aa960516df7 253 i= x2+x1;
VaLaraC 0:9aa960516df7 254 j=y1+y2;
VaLaraC 0:9aa960516df7 255 vertex2d(i ,j,abajo) ;
VaLaraC 0:9aa960516df7 256 wait_ms(30);
VaLaraC 0:9aa960516df7 257 #if DEBUG
VaLaraC 0:9aa960516df7 258 Sdebug.printf("coord X = %f,coord Y = %f \n", i,j);
VaLaraC 0:9aa960516df7 259 #endif
VaLaraC 0:9aa960516df7 260 }
VaLaraC 0:9aa960516df7 261
VaLaraC 0:9aa960516df7 262 for ( x2=r;x2>=0;x2--){
VaLaraC 0:9aa960516df7 263 y2= pow(((r*r)-(x2*x2)),0.5);
VaLaraC 0:9aa960516df7 264 i= x2+x1;
VaLaraC 0:9aa960516df7 265 j= y1 - y2;
VaLaraC 0:9aa960516df7 266 vertex2d(i ,j,abajo) ;
VaLaraC 0:9aa960516df7 267 wait_ms(30);
VaLaraC 0:9aa960516df7 268 #if DEBUG
VaLaraC 0:9aa960516df7 269 Sdebug.printf("coord X = %f,coord Y = %f \n", i,j);
VaLaraC 0:9aa960516df7 270 #endif
VaLaraC 0:9aa960516df7 271 }
VaLaraC 0:9aa960516df7 272
VaLaraC 0:9aa960516df7 273 for ( x2=0;x2<=r;x2++){
VaLaraC 0:9aa960516df7 274 y2= pow(((r*r)-(x2*x2)),0.5);
VaLaraC 0:9aa960516df7 275 i= x1- x2;
VaLaraC 0:9aa960516df7 276 j= y1 - y2;
VaLaraC 0:9aa960516df7 277 vertex2d(i ,j,abajo) ;
VaLaraC 0:9aa960516df7 278 wait_ms(30);
VaLaraC 0:9aa960516df7 279 #if DEBUG
VaLaraC 0:9aa960516df7 280 Sdebug.printf("coord X = %f,coord Y = %f \n", i,j);
VaLaraC 0:9aa960516df7 281 #endif
VaLaraC 0:9aa960516df7 282 }
VaLaraC 0:9aa960516df7 283 for ( x2=r;x2>=0;x2--){
VaLaraC 0:9aa960516df7 284 y2= pow(((r*r)-(x2*x2)),0.5);
VaLaraC 0:9aa960516df7 285 i= x1-x2;
VaLaraC 0:9aa960516df7 286 j=y1+y2;
VaLaraC 0:9aa960516df7 287 vertex2d(i ,j,abajo) ;
VaLaraC 0:9aa960516df7 288 wait_ms(30);
VaLaraC 0:9aa960516df7 289 #if DEBUG
VaLaraC 0:9aa960516df7 290 Sdebug.printf("coord X = %f,coord Y = %f \n", i,j);
VaLaraC 0:9aa960516df7 291 #endif
VaLaraC 0:9aa960516df7 292 }
VaLaraC 0:9aa960516df7 293 vertex2d(i ,j,arriba) ;
VaLaraC 0:9aa960516df7 294 wait_ms(rap);
VaLaraC 0:9aa960516df7 295 #if DEBUG
VaLaraC 0:9aa960516df7 296 Sdebug.printf("coord X = %f,coord Y = %f \n", i,j);
VaLaraC 0:9aa960516df7 297 #endif
VaLaraC 0:9aa960516df7 298
VaLaraC 0:9aa960516df7 299 if(x2==r)
VaLaraC 0:9aa960516df7 300 {
VaLaraC 0:9aa960516df7 301 wait(1);
VaLaraC 0:9aa960516df7 302 }
VaLaraC 0:9aa960516df7 303 home();
VaLaraC 0:9aa960516df7 304 }
VaLaraC 0:9aa960516df7 305
VaLaraC 0:9aa960516df7 306
VaLaraC 0:9aa960516df7 307
VaLaraC 1:a9b3fdab473e 308 void savep(){
VaLaraC 0:9aa960516df7 309 for (uint8_t i=0; i<BUFF_POS;i++)
VaLaraC 0:9aa960516df7 310 {
VaLaraC 0:9aa960516df7 311 buffer_command[i]=command.getc();
VaLaraC 0:9aa960516df7 312
VaLaraC 0:9aa960516df7 313 }
VaLaraC 0:9aa960516df7 314
VaLaraC 0:9aa960516df7 315 }
VaLaraC 0:9aa960516df7 316
VaLaraC 0:9aa960516df7 317 void reanudar(){
VaLaraC 0:9aa960516df7 318 led =0;
VaLaraC 0:9aa960516df7 319 p=0;
VaLaraC 0:9aa960516df7 320
VaLaraC 0:9aa960516df7 321
VaLaraC 0:9aa960516df7 322 }
VaLaraC 0:9aa960516df7 323
VaLaraC 0:9aa960516df7 324
VaLaraC 0:9aa960516df7 325 void pause(){
VaLaraC 1:a9b3fdab473e 326
VaLaraC 1:a9b3fdab473e 327 timeout.attach(&pause, 0.5);
VaLaraC 1:a9b3fdab473e 328 wait (5);
VaLaraC 1:a9b3fdab473e 329
VaLaraC 1:a9b3fdab473e 330
VaLaraC 0:9aa960516df7 331
VaLaraC 0:9aa960516df7 332
VaLaraC 0:9aa960516df7 333 }
VaLaraC 0:9aa960516df7 334
VaLaraC 0:9aa960516df7 335 void stop() //Funcion para detener el programa
VaLaraC 0:9aa960516df7 336 {
VaLaraC 0:9aa960516df7 337 exit(0);
VaLaraC 0:9aa960516df7 338 home();
VaLaraC 0:9aa960516df7 339 }
VaLaraC 0:9aa960516df7 340
VaLaraC 0:9aa960516df7 341 void command_exe()
VaLaraC 0:9aa960516df7 342 {
VaLaraC 0:9aa960516df7 343 #if DEBUG
VaLaraC 0:9aa960516df7 344 command.printf("Ejecutando comando: ");
VaLaraC 0:9aa960516df7 345 #endif
VaLaraC 0:9aa960516df7 346 switch (buffer_command[COMM_N])
VaLaraC 0:9aa960516df7 347 {
VaLaraC 0:9aa960516df7 348 case (LED):
VaLaraC 0:9aa960516df7 349 #if DEBUG
VaLaraC 0:9aa960516df7 350 command.printf("LED on\n");
VaLaraC 0:9aa960516df7 351 #endif
VaLaraC 0:9aa960516df7 352 command_led(buffer_command[INITPARAMETER]);
VaLaraC 0:9aa960516df7 353 break;
VaLaraC 0:9aa960516df7 354
VaLaraC 0:9aa960516df7 355 case (PUNTO):
VaLaraC 0:9aa960516df7 356 punto(buffer_command[INITPARAMETER],buffer_command[INITPARAMETER+1]);
VaLaraC 0:9aa960516df7 357 #if DEBUG
VaLaraC 0:9aa960516df7 358 command.printf("Dibujando Punto");
VaLaraC 0:9aa960516df7 359 #endif
VaLaraC 0:9aa960516df7 360 break;
VaLaraC 0:9aa960516df7 361
VaLaraC 0:9aa960516df7 362 case LINE:
VaLaraC 0:9aa960516df7 363 #if DEBUG
VaLaraC 0:9aa960516df7 364 command.printf("Dibujando Linea\n");
VaLaraC 0:9aa960516df7 365 #endif
VaLaraC 0:9aa960516df7 366 line(buffer_command[INITPARAMETER],buffer_command[INITPARAMETER+1],buffer_command[INITPARAMETER+2],buffer_command[INITPARAMETER+3]);
VaLaraC 0:9aa960516df7 367
VaLaraC 0:9aa960516df7 368
VaLaraC 0:9aa960516df7 369 break;
VaLaraC 0:9aa960516df7 370
VaLaraC 0:9aa960516df7 371 case RECTANGLE:
VaLaraC 0:9aa960516df7 372 #if DEBUG
VaLaraC 0:9aa960516df7 373 command.printf("Dibujando Rectangulo\n");
VaLaraC 0:9aa960516df7 374 #endif
VaLaraC 0:9aa960516df7 375 rectangle(buffer_command[INITPARAMETER],buffer_command[INITPARAMETER+1],buffer_command[INITPARAMETER+2],buffer_command[INITPARAMETER+3]);
VaLaraC 0:9aa960516df7 376 break;
VaLaraC 0:9aa960516df7 377
VaLaraC 0:9aa960516df7 378 case (CIRCLE):
VaLaraC 0:9aa960516df7 379 #if DEBUG
VaLaraC 0:9aa960516df7 380 command.printf("Dibujando Circulo\n");
VaLaraC 0:9aa960516df7 381 #endif
VaLaraC 0:9aa960516df7 382 circle(buffer_command[INITPARAMETER],buffer_command[INITPARAMETER+1],buffer_command[INITPARAMETER+2]);
VaLaraC 0:9aa960516df7 383 break;
VaLaraC 0:9aa960516df7 384
VaLaraC 0:9aa960516df7 385 case (STOP):
VaLaraC 0:9aa960516df7 386 #if DEBUG
VaLaraC 0:9aa960516df7 387 command.printf(" STOP\n");
VaLaraC 0:9aa960516df7 388 #endif
VaLaraC 0:9aa960516df7 389 break;
VaLaraC 0:9aa960516df7 390
VaLaraC 0:9aa960516df7 391 case (PAUSE):
VaLaraC 0:9aa960516df7 392 #if DEBUG
VaLaraC 0:9aa960516df7 393 command.printf("programa pausado\n");
VaLaraC 0:9aa960516df7 394 #endif
VaLaraC 0:9aa960516df7 395 pause();
VaLaraC 0:9aa960516df7 396 break;
VaLaraC 0:9aa960516df7 397
VaLaraC 0:9aa960516df7 398 case (REANUDAR):
VaLaraC 0:9aa960516df7 399 #if DEBUG
VaLaraC 0:9aa960516df7 400 command.printf("draw reanudar programa\n");
VaLaraC 0:9aa960516df7 401 #endif
VaLaraC 0:9aa960516df7 402 reanudar();
VaLaraC 0:9aa960516df7 403 break;
VaLaraC 0:9aa960516df7 404
VaLaraC 0:9aa960516df7 405 case (RESOLUCION):
VaLaraC 0:9aa960516df7 406 resolucion(buffer_command[INITPARAMETER]);
VaLaraC 0:9aa960516df7 407 #if DEBUG
VaLaraC 0:9aa960516df7 408 command.printf("Resolucion definida");
VaLaraC 0:9aa960516df7 409 #endif
VaLaraC 0:9aa960516df7 410 break;
VaLaraC 0:9aa960516df7 411 case (HOME):
VaLaraC 0:9aa960516df7 412 home();
VaLaraC 0:9aa960516df7 413 #if DEBUG
VaLaraC 0:9aa960516df7 414 command.printf("Posicion Home");
VaLaraC 0:9aa960516df7 415 #endif
VaLaraC 0:9aa960516df7 416 break;
VaLaraC 0:9aa960516df7 417
VaLaraC 0:9aa960516df7 418 case (TIEMPO_DE_PASO):
VaLaraC 0:9aa960516df7 419 #if DEBUG
VaLaraC 0:9aa960516df7 420 command.printf("Nuevo tiempo para paso:\res");
VaLaraC 0:9aa960516df7 421 #endif
VaLaraC 0:9aa960516df7 422 tiempo_de_paso(buffer_command[INITPARAMETER]);
VaLaraC 0:9aa960516df7 423 break;
VaLaraC 0:9aa960516df7 424
VaLaraC 0:9aa960516df7 425 default:
VaLaraC 0:9aa960516df7 426 #if DEBUG
VaLaraC 0:9aa960516df7 427 command.printf("comando no encontrado\n");
VaLaraC 0:9aa960516df7 428 #endif
VaLaraC 0:9aa960516df7 429
VaLaraC 0:9aa960516df7 430 }
VaLaraC 0:9aa960516df7 431 }
VaLaraC 0:9aa960516df7 432
VaLaraC 0:9aa960516df7 433
VaLaraC 1:a9b3fdab473e 434 void interrupcion(){
VaLaraC 1:a9b3fdab473e 435 uint8_t val;
VaLaraC 0:9aa960516df7 436 // mybutton.rise(&stop);
VaLaraC 0:9aa960516df7 437 while(1){
VaLaraC 0:9aa960516df7 438 val=command.getc();
VaLaraC 0:9aa960516df7 439 if (val== '<'){
VaLaraC 0:9aa960516df7 440 Read_command();
VaLaraC 1:a9b3fdab473e 441 mybutton.rise(&pause);
VaLaraC 0:9aa960516df7 442 if (check_command()){
VaLaraC 0:9aa960516df7 443 command_exe();
VaLaraC 0:9aa960516df7 444 }
VaLaraC 0:9aa960516df7 445 else{
VaLaraC 0:9aa960516df7 446 #if DEBUG
VaLaraC 0:9aa960516df7 447 command.printf("\n ERROR COMANDO -> ");
VaLaraC 0:9aa960516df7 448 echo_command();
VaLaraC 0:9aa960516df7 449 #endif
VaLaraC 0:9aa960516df7 450 }
VaLaraC 0:9aa960516df7 451 }
VaLaraC 0:9aa960516df7 452 else{
VaLaraC 0:9aa960516df7 453 #if DEBUG
VaLaraC 0:9aa960516df7 454 command.printf("error de inicio de trama: ");
VaLaraC 0:9aa960516df7 455 command.putc(val);
VaLaraC 0:9aa960516df7 456 #endif
VaLaraC 1:a9b3fdab473e 457
VaLaraC 1:a9b3fdab473e 458 }
VaLaraC 1:a9b3fdab473e 459 }
VaLaraC 1:a9b3fdab473e 460 }
VaLaraC 1:a9b3fdab473e 461
VaLaraC 1:a9b3fdab473e 462
VaLaraC 1:a9b3fdab473e 463
VaLaraC 1:a9b3fdab473e 464
VaLaraC 1:a9b3fdab473e 465
VaLaraC 1:a9b3fdab473e 466
VaLaraC 1:a9b3fdab473e 467
VaLaraC 1:a9b3fdab473e 468 int main() {
VaLaraC 1:a9b3fdab473e 469 #if DEBUG
VaLaraC 1:a9b3fdab473e 470 command.printf("inicio con debug\n");
VaLaraC 1:a9b3fdab473e 471 #else
VaLaraC 1:a9b3fdab473e 472 command.printf("inicio sin debug\n");
VaLaraC 1:a9b3fdab473e 473 #endif
VaLaraC 1:a9b3fdab473e 474 ticker1.attach(&interrupcion,0.5);
VaLaraC 1:a9b3fdab473e 475 for(;;);
VaLaraC 1:a9b3fdab473e 476
VaLaraC 0:9aa960516df7 477
VaLaraC 0:9aa960516df7 478 }
VaLaraC 0:9aa960516df7 479
VaLaraC 0:9aa960516df7 480
VaLaraC 1:a9b3fdab473e 481
VaLaraC 0:9aa960516df7 482
VaLaraC 0:9aa960516df7 483