File content as of revision 0:694620b4c620:

#include "mbed.h"
#include "time.h"

#define servo_stylo_pos 1800//1800
#define servo_stylo_lev 1680//1680
#define servo_neutre 1400
#define servo_gomme_lev 900//900
#define servo_gomme_pos 755//730 780

DigitalOut myled(LED1);
DigitalOut led_err(LED3);
DigitalOut stepper_clk_1(p21);//21
DigitalOut stepper_dir_1(p22);//22
DigitalOut stepper_clk_2(p23);//23
DigitalOut stepper_dir_2(p24);//24
DigitalOut servoout(p17);
AnalogIn potard_1 (p20);
DigitalIn switch_epaule(p18);
DigitalIn switch_coude(p19);
Serial pc(USBTX, USBRX);
LocalFileSystem local("local");

Timeout pulse_stepper1;
Timeout pulse_stepper2;
Timeout servo_timeout;
Ticker appel_servo;

int cons_servo_main=1400; //1800
int a_coude, a_epaule, dir_1_real, dir_2_real, tick_attached_coude, tick_attached_epaule;
int period_stepper1, period_stepper2, precis, outil, ligne;
float X_pos, Y_pos;
float X_print, Y_print, X_fictif;
int remplissage[5]= {0,0,0,0,0};
char texte_heure_bk[10];
char texte_minute_bk[10];

float taille_glob;

char police_maj[256][30]= {
    5,8,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //32 espace
    ,2,2,15,3,2,5,6,2,1,5,4,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //33 !
    ,2,1,15,3,1,11,2,4,15,3,4,11,5,5,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //34 "
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //35
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //36
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //37 %
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //38 &
    ,2,3,15,3,1,11,5,4,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //39 ' appostrophe
    ,4,11,8,20,14,18,5,5,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //40 (
    ,4,-6,8,20,10,6,5,5,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //41 )
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //42
    ,2,1,5,3,9,5,2,5,9,3,5,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //43 +
    ,2,3,1,3,1,-3,5,4,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //44 , virgule
    ,2,2,5,3,8,5,5,10,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //45 -
    ,6,2,1,5,4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //46 . point
    ,2,9,15,3,1,1,5,10,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //47 /
    ,4,5,11,8,16,8,3,9,5,4,5,5,8,8,0,3,1,11,5,10 ,0,0,0,0,0,0,0,0,0,0 //48 0
    ,2,1,12,3,4,15,3,4,1,2,2,1,3,6,1,5,7,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //49 1
    ,4,5,11,8,16,6,3,1,1,3,9,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //50 2
    ,4,5,12,6,15,4,4,5,5,8,12,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //51 3
    ,2,9,7,3,1,7,3,7,15,3,7,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //52 4
    ,2,8,15,3,2,15,3,1,9,3,4,9,4,4,5,8,12,2,5,9 ,0,0,0,0,0,0,0,0,0,0 //53 5
    ,4,5,5,8,16,0,3,1,8,4,8,8,14,16,12,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //54 6
    ,2,1,15,3,9,15,3,1,1,5,10,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //55 7
    ,4,5,12,6,4,20,4,5,5,8,28,12,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //56 8
    ,4,5,11,8,24,8,3,9,8,4,2,8,14,8,4,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //57 9
    ,6,2,7,6,2,3,5,4,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //58 :
    ,6,3,7,2,3,1,3,1,-3,5,4,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //59 ;
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //60 <
    ,2,2,7,3,8,7,2,2,3,3,8,3,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //61 =
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //62 >
    ,4,5,11,8,16,8,4,7,11,4,8,4,4,7,7,4,12,16,3,5 ,4,6,5,1,5,10,0,0,0,0 //63 ?
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //64

    ,2,1,1,3,6,15,3,11,1,2,3,6,3,9,6,5,12,0,0,0,0,0,0,0,0,0,0,0,0,0 //A 65
    ,2,1,1,3,1,15,3,3,15,4,3,12,6,12,4,3,1,9,4,3,5,8,12,4,3,1,1,5,8,0 //B 66
    ,4,5,5,8,7,0,3,1,11,4,5,11,8,16,9,5,10,0,0,0,0,0,0,0,0,0,0,0,0,0 //C 67
    ,2,1,1,3,1,15,3,4,15,4,4,11,8,12,8,3,8,5,4,4,5,8,8,4,3,1,1,5,9,0 //D 68
    ,2,8,15,3,1,15,3,1,1,3,8,1,2,1,8,3,6,8,5,9 ,0,0,0,0,0,0,0,0,0,0 //E 69
    ,2,8,15,3,1,15,3,1,1,2,1,8,3,6,8,5,9,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //F 70
    ,4,5,11,8,9,16,3,1,5,4,5,5,8,0,8,3,9,8,3,5 ,8,5,10,0,0,0,0,0,0,0 //G 71
    ,2,1,15,3,1,1,2,1,8,3,8,8,2,8,15,3,8,1,5,9 ,0,0,0,0,0,0,0,0,0,0 //H 72
    ,2,1,15,3,5,15,2,3,15,3,3,1,2,1,1,3,5,1,5,6 ,0,0,0,0,0,0,0,0,0,0 //I 73
    ,4,4,4,6,0,8,3,7,15,2,5,15,3,9,15,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //J 74
    ,2,1,1,3,1,15,2,7,15,3,1,8,3,7,1,5,8,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //K 75
    ,2,1,15,3,1,1,3,8,1,5,9,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //L 76
    ,2,1,1,3,1,15,3,5,8,3,9,15,3,9,1,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //M 77
    ,2,1,1,3,1,15,3,9,1,3,9,15,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //N 78
    ,4,5,11,8,16,8,3,9,5,4,5,5,8,8,0,3,1,11,5,10 ,0,0,0,0,0,0,0,0,0,0 //O 79
    ,2,1,1,3,1,15,3,3,15,4,3,12,6,12,4,3,1,9,5,7 ,0,0,0,0,0,0,0,0,0,0 //P 80
    ,4,5,11,8,16,8,3,9,5,4,5,5,8,8,0,3,1,11,2,6,4,3,9,1,5,10,0,0,0,0 //Q 81
    ,2,1,1,3,1,15,3,3,15,4,3,12,6,12,4,3,1,9,2,3,9,3,6,1,5,7,0,0,0,0 //R 82
    ,4,5,11,8,8,16,3,9,5,4,5,5,8,8,0,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //S 83
    ,2,5,1,3,5,15,2,1,15,3,9,15,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //T 84
    ,2,1,15,3,1,5,4,5,5,8,0,8,3,9,15,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //U 85
    ,2,1,15,3,5,1,3,9,15,5,10,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //V 86
    ,2,1,15,3,5,1,3,7,8,3,9,1,3,13,15,5,14,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //W 87
    ,2,9,15,3,1,1,2,1,15,3,9,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //X 88
    ,2,9,15,3,1,1,2,1,15,3,5,8,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //Y 89
    ,2,1,15,3,9,15,3,1,1,3,9,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //Z 90

    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //91
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //92
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //93
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //94
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //95
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //96

    ,4,4,4,6,8,24,3,7,7,4,4,7,6,8,15,5,8,0,0,0 ,0,0,0,0,0,0,0,0,0,0 // a 27
    ,4,5,5,8,0,16,2,1,1,3,1,15,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //b 28
    ,4,5,5,8,10,22,5,9,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //c 29
    ,4,5,5,8,24,8,2,9,1,3,9,15,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //d 30
    ,2,1,5,3,9,5,4,5,5,8,8,22,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //e 31
    ,2,1,1,3,1,10,4,4,10,6,16,10,2,4,7,3,1,7,5,7,0,0,0,0,0,0,0,0,0,0 //f 32
    ,4,5,5,8,24,8,3,9,0,4,5,0,8,8,1,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //g 33
    ,2,1,15,3,1,1,4,5,5,8,16,8,3,9,1,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //h 34
    ,2,2,1,3,2,9,6,2,12,5,4,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //i 35
    ,6,6,12,2,6,9,3,6,-1,4,3,-1,6,8,0,5,7,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //j 36
    ,2,1,15,3,1,1,2,6,9,3,1,5,3,6,1,5,7,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //k 37
    ,2,2,15,3,2,1,5,4,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //l 38
    ,2,1,9,3,1,1,4,4,6,6,16,8,3,7,1,4,10,6,6,16 ,8,3,13,1,5,14,0,0,0,0 //m 39
    ,2,1,9,3,1,1,4,5,5,8,16,8,3,9,1,5,10,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //n 40
    ,4,5,5,8,0,16,5,10,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //o 41
    ,2,1,-3,3,1,9,4,5,5,8,0,16,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //p 42
    ,4,5,5,8,0,16,2,9,9,3,9,-3,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //q 43
    ,2,1,9,3,1,1,4,5,5,8,16,9,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //r 44
    ,2,7,9,3,3,9,4,3,7,4,12,20,3,5,5,4,5,3,4,12 ,4,3,1,1,5,8,0,0,0,0 //s 45
    ,2,1,15,3,1,4,4,4,4,6,0,8,2,1,11,3,6,11,5,8 ,0,0,0,0,0,0,0,0,0,0 //t 46
    ,2,1,9,3,1,4,4,4,4,6,0,8,3,7,9,5,8,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //u 47
    ,2,1,9,3,5,1,3,9,9,5,10,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //v 48
    ,2,1,9,3,4,1,3,6,5,3,8,1,3,11,9,5,12,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //w 49
    ,2,7,9,3,1,1,2,1,9,3,7,1,5,8,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //x 50
    ,2,1,9,3,5,1,2,9,9,3,2,-5,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //y 121
    ,2,1,9,3,9,9,3,1,1,3,9,1,5,10,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //z 122

    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //123
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //124
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //125
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //126
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //127
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //128
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //129
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //130
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //131
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //132
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //133
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //134
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //135
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //136
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //137
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //138
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //139
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //140
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //141
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //142
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //143
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //144
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //145
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //146
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //147
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //148
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //149
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //150
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //151
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //152
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //153
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //154
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //155
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //156
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //157
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //158
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //159
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //160
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //161
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //162
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //163
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //164
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //165
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //166
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //167
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //168
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //169
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //170
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //171
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //172
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //173
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //174
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //175
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //176
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //177 +/-
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //178
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //179
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //180
    ,2,1,-3,3,1,9,4,4,4,6,0,8,3,7,9,5,8,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //181 µ
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //182
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //183
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //184
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //185
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //186
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //187
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //188
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //189
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //190
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //191
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //192
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //193
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //194
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //195
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //196
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //197
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //198
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //199
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //200
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //201
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //202
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //203
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //204
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //205
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //206
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //207
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //208
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //209
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //210
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //211
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //212
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //213
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //214
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //215
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //216
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //217
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //218
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //219
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //220
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //221
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //222
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //223
    ,4,4,4,6,8,24,3,7,7,4,4,7,6,8,15,2,2,14,3,6 ,12,5,8,0,0,0,0,0,0,0 //224 à
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //225
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //226
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //227
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //228
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //229
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //230
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //231
    ,2,1,5,3,9,5,4,5,5,8,8,22,2,3,14,3,7,12,5,10 ,0,0,0,0,0,0,0,0,0,0 //232 è
    ,2,1,5,3,9,5,4,5,5,8,8,22,2,7,14,3,3,12,5,10 ,0,0,0,0,0,0,0,0,0,0 //233 é
    ,2,1,5,3,9,5,4,5,5,8,8,22,2,2,12,3,5,14,3,8 ,12,5,10,0,0,0,0,0,0,0//234 ê
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //235
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //236
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //237
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //238
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //239 ï
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //240
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //241
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //242
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //243
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //244 ô
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //245
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //246 ö
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //247
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //248
    ,2,1,9,3,1,4,4,4,4,6,0,8,3,7,9,2,2,14,3,6,12,5,8,0,0,0,0,0,0,0 //249 ù
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //250
    ,5,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 ,0,0,0,0,0,0,0,0,0,0 //251
};

void stop_tick_servo(void)
{
    servoout=0;
}

void tick_servo (void)
{
    servoout=1;
    servo_timeout.attach_us(&stop_tick_servo, cons_servo_main);
}

void clk_stepper1(void)
{
    stepper_clk_1=1;
    pulse_stepper1.attach_us(&clk_stepper1, period_stepper1);
    a_coude=a_coude + dir_1_real;
    stepper_clk_1=0;
}

void clk_stepper2(void)
{
    stepper_clk_2=1;
    pulse_stepper2.attach_us(&clk_stepper2, period_stepper2);
    a_epaule=a_epaule + dir_2_real;
    stepper_clk_2=0;
}

void tick_detach()
{
    tick_attached_coude=0;
    tick_attached_epaule=0;
    pulse_stepper1.detach();
    pulse_stepper2.detach();
}

void set_poignet(int pospoignet)
{
    switch (pospoignet) {
        case 1 : //stylo pose
            if (cons_servo_main!=servo_stylo_pos) {
                wait_ms(100);
                cons_servo_main=servo_stylo_pos;
                myled=1;
                wait_ms(80);
            }
            precis=1;
            break;
        case 2 : //stylo leve
            if (cons_servo_main!=servo_stylo_lev) {
                //wait_ms(50);
                cons_servo_main=servo_stylo_lev;
                myled=0;
                wait_ms(50);
            }
            precis=0;
            break;
        case 3 : //neutre
            cons_servo_main=servo_neutre;
            precis=0;
            break;
        case 4 : //gomme levee
            cons_servo_main=servo_gomme_lev;
            precis=0;
            break;
        case 5 : //gomme posee
            cons_servo_main=servo_gomme_pos;
            precis=2;
    }
}



void init_stepper()
{
    //int arret=0;
    int i;
    while (switch_epaule==1) {
        stepper_clk_2=1;
        wait_us(10);
        stepper_clk_2=0;
        wait_ms(3);
    }
    stepper_dir_2=1;
    for (i=1; i<2620; i++) { //2640
        stepper_clk_2=1;
        wait_us(10);
        stepper_clk_2=0;
        wait_ms(1);
    }
    while (switch_coude==1) {
        stepper_clk_1=1;
        wait_us(10);
        stepper_clk_1=0;
        wait_ms(3);
    }
    a_coude=-2940;//2900
    a_epaule=0;
    //stepper_dir_1=1;
    //    for (i=1;i<2900;i++) {
    //    stepper_clk_1=1;
    //    wait_us(10);
    //    stepper_clk_1=0;
    //    wait_ms(1);
    //}
    //cons_servo_main=1800;
}

void setpos_ang (int a_coude_cible, int a_epaule_cible, int delay_ms)
{
    int err_a_coude, err_a_epaule;
    float delay_1, delay_2;
    //pulse_stepper1.detach();
    //pulse_stepper2.detach();
    err_a_coude=a_coude_cible - a_coude;
    err_a_epaule=a_epaule_cible - a_epaule;
    if (err_a_coude>0) {
        stepper_dir_1=1;
        dir_1_real=1;
    } else {
        stepper_dir_1=0;
        dir_1_real=-1;
    };
    if (err_a_epaule>0) {
        stepper_dir_2=1;
        dir_2_real=1;
    } else {
        stepper_dir_2=0;
        dir_2_real=-1;
    };
    err_a_coude=abs(err_a_coude);
    err_a_epaule=abs(err_a_epaule);
    //pc.printf("err
    if (err_a_coude !=0) { //laisser imperativement !=0
        delay_1=delay_ms*1000/err_a_coude;
        //printf("delay1 : %f\r\n",delay_1);
        if (delay_1<250) {
            pc.printf("X:%f Y:%f\r\n",X_pos, Y_pos);
            printf("delay1 : %f\r\n",delay_1);
            printf("a_coude:%d a_coude_cible: %d err_coude : %d\r\n\r\n",a_coude, a_coude_cible, err_a_coude);

            delay_1=250;
            led_err=1;
            //wait(1);
            led_err=0;
        }
        period_stepper1=delay_1-3;
        if (tick_attached_coude==0) {
            pulse_stepper1.attach_us(&clk_stepper1, period_stepper1);
            tick_attached_coude=1;
        }
    } else {
        tick_attached_coude=0;
        pulse_stepper1.detach();
    }

    if (err_a_epaule!=0) { //laisser imperativement !=0
        delay_2=delay_ms*1000/err_a_epaule;
        //printf("delay2 : %f\r\n",delay_2);
        if (delay_2<250) {
            pc.printf("X:%f Y:%f\r\n",X_pos, Y_pos);
            printf("delay2 : %f\r\n",delay_2);
            printf("a_epaule:%d a_epaule_cible:%d err_epaul : %d\r\n\r\n",a_epaule, a_epaule_cible, err_a_epaule);
            delay_2=250;
            led_err=1;
            //wait(1);
            led_err=0;
        }
        period_stepper2=delay_2-3;
        if (tick_attached_epaule==0) {
            pulse_stepper2.attach_us(&clk_stepper2, period_stepper2);
            tick_attached_epaule=1;
        }
    } else {
        tick_attached_epaule=0;
        pulse_stepper2.detach();
    }
    //tick_attached=1;
    wait_ms(delay_ms);
    //pulse_stepper1.detach();
    //pulse_stepper2.detach();
    //pc.printf("Reelles coude: %d ; epaule: %d\r\n\r\n", a_coude, a_epaule);
}

void goto_2D_short (float X_cible, float Y_cible, int delay_ms)
{
    float allonge, deltax, deltay, alpha_D, arad_coude_cible, arad_epaule_cible, consigne_coude, consigne_epaule, erreur_coude, erreur_epaule;
    int delay_loc;
    // inversion matrice simplifiee
    if (X_cible > 360) {
        X_cible=360;
    }
    if (X_cible < 0) {
        X_cible=0;
    }
    if (Y_cible > 145) {
        Y_cible=145;   //110
    }
    if (Y_cible < 0) {
        Y_cible=0;
    }
    deltax=X_cible-180;
    deltay=235-Y_cible;//220
    allonge=sqrt((deltax*deltax)+(deltay*deltay));
    arad_coude_cible=2*acos(allonge/320);// inverser le signe quand passage a consigne
    alpha_D=atan(deltax/deltay);

    //conversion en consigne brutes (pas)
    if (outil==0) { //stylo
        arad_epaule_cible=alpha_D+(arad_coude_cible/2);
        consigne_epaule = arad_epaule_cible*1120.5;
        consigne_coude = consigne_epaule/4.4 -arad_coude_cible*1120.5;
    } else {
        arad_epaule_cible=alpha_D-(arad_coude_cible/2); //gomme
        consigne_epaule = arad_epaule_cible*1120.5;
        consigne_coude = consigne_epaule/4.4 +arad_coude_cible*1120.5-850;
    }

    //pc.printf("consigne_coude:%d ; epaule:%d\r\n", (int)consigne_coude, (int)consigne_epaule);
    //pc.printf("X:%f Y:%f\r\n", X_cible, Y_cible);

    if (delay_ms==0) {
        erreur_coude=abs(consigne_coude-a_coude);
        erreur_epaule=abs(consigne_epaule-a_epaule);
        //delay_loc=0.5*max(erreur_coude, erreur_epaule);
        if (erreur_coude>erreur_epaule) {
            delay_loc=0.75*erreur_coude;
        } else {
            delay_loc=0.75*erreur_epaule;
        }
        setpos_ang (consigne_coude, consigne_epaule, delay_loc);
        X_pos=X_cible;
        Y_pos=Y_cible;
    } else  {
        setpos_ang (consigne_coude, consigne_epaule, delay_ms);
        X_pos=X_cible;
        Y_pos=Y_cible;
        //cinematique directe:
    }
}

void goto_2D_line (float X_cible, float Y_cible)
{
    float delta_x, delta_y, distance, x_decomp, y_decomp;
    int nb_pas, i;
    delta_x=X_cible-X_pos;
    delta_y=Y_cible-Y_pos;
    distance=sqrt((delta_x*delta_x)+(delta_y*delta_y));
    nb_pas = ceil (distance*1);// 1 pas = 1mm donc pas de facteur
    //pc.printf ("nb pas: %i\r\n", nb_pas);
    delta_x=delta_x/nb_pas;
    delta_y=delta_y/nb_pas;
    x_decomp=X_pos;
    y_decomp=Y_pos;
    //tick_detach();
    for (i=1; i<=nb_pas; i++) {
        x_decomp=x_decomp+delta_x;
        y_decomp=y_decomp+delta_y;
        //pc.printf ("decomp: X: %f Y: %f\r\n", x_decomp, y_decomp);
        if(precis==1) {
            goto_2D_short (x_decomp, y_decomp, 10+70*potard_1.read());   //12
        } else if (precis==2) {
            goto_2D_short (x_decomp, y_decomp,13);
        } else {
            goto_2D_short (x_decomp, y_decomp, 9);
        }
    }
    tick_detach();
}

void circle_2D(float X_centre, float Y_centre, float rayon, float angle_deb, float angle_fin)
{
    float pas_angle, angle_actuel, x_decomp, y_decomp, delta_x, delta_y, distance;
    int nb_pas, i;
    nb_pas=1*ceil (rayon * abs (angle_fin-angle_deb));
    pas_angle=(angle_fin-angle_deb)/nb_pas;
    angle_actuel=angle_deb;
    x_decomp=X_centre + rayon*cos (angle_actuel);
    y_decomp=Y_centre + rayon*sin (angle_actuel);
    delta_x=x_decomp-X_pos;
    delta_y=y_decomp-Y_pos;
    distance=sqrt((delta_x*delta_x)+(delta_y*delta_y));
    //pc.printf("decomp circle : X:%f Y:%f\r\n", x_decomp, y_decomp);
    //tick_detach();
    if (distance>2) {
        //cons_servo_main=servo_stylo_lev;
        set_poignet(2);
        //wait_ms(100);
        goto_2D_line (x_decomp, y_decomp);
    }
    set_poignet(1);
    //if (cons_servo_main!=servo_stylo_pos) {
    //    //cons_servo_main=servo_stylo_pos;
    //    set_poignet(1);
    //    //wait_ms(100);
    //    }
    //tick_detach();
    for (i=1; i<=nb_pas; i++) {
        angle_actuel=angle_actuel+pas_angle;
        x_decomp=X_centre + rayon*cos (angle_actuel);
        y_decomp=Y_centre + rayon*sin (angle_actuel);
        //pc.printf("decomp circle : X:%f Y:%f\r\n", x_decomp, y_decomp);
        goto_2D_short (x_decomp, y_decomp, 10+70*potard_1.read());
    }
    tick_detach();
}

void set_outil(int outil_loc, float X_loc, float Y_loc)
{
    if ((outil_loc==1)&&(outil==0)) {//gomme
        set_poignet(3);
        outil=1;
        goto_2D_short (X_loc, Y_loc,0);//2000
        tick_detach();
        set_poignet(4);
        wait_ms(200);
    } else if ((outil_loc==0)&&(outil==1)) {
        set_poignet(3);
        outil=0;
        goto_2D_short (X_loc, Y_loc,0);//2000
        tick_detach();
        set_poignet(2);
        wait_ms(200);
    } else if ((outil_loc==1)&&(outil==1)) {
        set_poignet(4);
    }
}

void print_lettre(char lettre, float taille)
{
    int fin_lettre=0;
    int i_instr=0;
    int x_temp, y_temp, lettre_loc;
    float X_local, Y_local;
    float rayon_loc, angle_deb_loc, angle_fin_loc;
    lettre_loc=lettre;
    //printf ("char: %d", lettre+32);
    if (lettre_loc<0) {
        lettre_loc=lettre+256;
    }
    //printf ("char: %d\r\n", lettre_loc+32);
    set_outil(0,X_print,Y_print);
    while (fin_lettre==0) {
        switch (police_maj[lettre_loc][i_instr]) {
            case 2 : // aller stylo leve
                //cons_servo_main=servo_stylo_lev;
                set_poignet(2);
                //wait_ms(100);
                X_local=X_print+taille*(police_maj[lettre_loc][i_instr+1]);
                y_temp=police_maj[lettre_loc][i_instr+2];
                if (y_temp>127) {
                    y_temp=y_temp-256;
                }
                Y_local=Y_print+taille*y_temp;
                goto_2D_line(X_local, Y_local);
                i_instr=i_instr+3;
                break;
            case 3 : // ligne stylo pose
                set_poignet(1);
                //if (cons_servo_main!=servo_stylo_pos) {
                //    cons_servo_main=servo_stylo_pos;
                //    wait_ms(100);
                //}
                X_local=X_print+taille*(police_maj[lettre_loc][i_instr+1]);
                y_temp=police_maj[lettre_loc][i_instr+2];
                if (y_temp>127) {
                    y_temp=y_temp-256;
                }
                Y_local=Y_print+taille*y_temp;
                goto_2D_line(X_local, Y_local);
                i_instr=i_instr+3;
                break;
            case 4 : // cercle
                //X_local=X_print+taille*(police_maj[lettre_loc][i_instr+1]);
                x_temp=police_maj[lettre_loc][i_instr+1];
                if (x_temp>127) {
                    x_temp=x_temp-256;
                }
                X_local=X_print+taille*x_temp;
                y_temp=police_maj[lettre_loc][i_instr+2];
                if (y_temp>127) {
                    y_temp=y_temp-256;
                }
                Y_local=Y_print+taille*y_temp;
                rayon_loc=taille*(police_maj[lettre_loc][i_instr+3])/2;
                angle_deb_loc=(0.3927*police_maj[lettre_loc][i_instr+4])-3.1416;
                angle_fin_loc=(0.3927*police_maj[lettre_loc][i_instr+5])-3.1416;
                //pc.printf("angles: %f %f \r\n", angle_deb_loc, angle_fin_loc);
                circle_2D(X_local, Y_local, rayon_loc, angle_deb_loc, angle_fin_loc);
                i_instr=i_instr+6;
                break;
            case 5 : // fin
                fin_lettre=1;
                X_print=X_print+taille*(police_maj[lettre_loc][i_instr+1]);
                //cons_servo_main=servo_stylo_lev;
                set_poignet(2);
                //wait_ms(50);
                break;
            case 6 : // point
                X_local=X_print+taille*(police_maj[lettre_loc][i_instr+1]);
                Y_local=Y_print+taille*(police_maj[lettre_loc][i_instr+2]);
                set_poignet(2);
                goto_2D_line(X_local, Y_local);
                set_poignet(1);
                goto_2D_line(X_local, Y_local);
                set_poignet(2);
                i_instr=i_instr+3;
                break;
        }
    }
}

void print_lettre_fictif(char lettre, float taille)
{
    int fin_lettre=0;
    int i_instr=0;
    int x_temp, y_temp, lettre_loc;
    float X_local, Y_local;
    float rayon_loc, angle_deb_loc, angle_fin_loc;
    lettre_loc=lettre;
    //printf ("char: %d", lettre+32);
    if (lettre_loc<0) {
        lettre_loc=lettre+256;
    }
    //printf ("char fictif: %d\r\n", lettre_loc+32);
    while (fin_lettre==0) {
        switch (police_maj[lettre_loc][i_instr]) {
            case 2 : // aller stylo leve
                i_instr=i_instr+3;
                break;
            case 3 : // ligne stylo pose
                i_instr=i_instr+3;
                break;
            case 4 : // cercle
                i_instr=i_instr+6;
                break;
            case 5 : // fin
                fin_lettre=1;
                X_fictif=X_fictif+taille*(police_maj[lettre_loc][i_instr+1]);
                break;
            case 6 : // point
                i_instr=i_instr+3;
                break;
        }
    }
}

void efface(float Xl1, float Yl1, float Xl2, float Yl2)
{
    float distance_Y,pas, Y_loc;
    int i, nb_pas, outil_old_loc;
    outil_old_loc=outil;
    set_outil(1, Xl1, Yl1);
    goto_2D_line(Xl1,Yl1);
    set_poignet(5);
    distance_Y=Yl2-Yl1;
    //nb_pas=ceil(distance_Y/5);
    //pas=distance_Y/nb_pas;
    Y_loc=Yl1;
    //for (i=0;i<=nb_pas;i++)
    while (Y_loc<Yl2) {
        goto_2D_line(Xl1, Y_loc);
        goto_2D_line(Xl2, Y_loc);
        Y_loc=Y_loc+5;
        goto_2D_line(Xl2, Y_loc);
        goto_2D_line(Xl1, Y_loc);
        Y_loc=Y_loc+5;
    }
    set_poignet(4);
    //set_outil(outil_old_loc);
}


void print_heure(void)
{
    char texte_heure[10];
    char texte_minute[10];
    int outil_bk,precis_bk, difference;
    int cons_servo_main_bk;
    float X_backup, Y_backup,X_pos_bk, Y_pos_bk;
    struct tm * timeinfo;
    time_t seconds = time(NULL);
    timeinfo = localtime (&seconds);
    strftime(texte_heure,10,"%H",timeinfo);
    strftime(texte_minute,10,"%M",timeinfo);
    X_backup=X_print;
    Y_backup=Y_print;
    X_pos_bk=X_pos;
    Y_pos_bk=Y_pos;
    outil_bk=outil;
    precis_bk=precis;
    difference=0;
    cons_servo_main_bk=cons_servo_main;
    if (strcmp(texte_minute, texte_minute_bk)!=0) {
        efface(325,107,359,138);
        X_print=330;
        Y_print=110;
        print_lettre(texte_minute[0]-32,taille_glob);
        X_print=345;
        print_lettre(texte_minute[1]-32,taille_glob);
        strcpy(texte_minute_bk,texte_minute);
        difference=1;
    }
    if (strcmp(texte_heure, texte_heure_bk)!=0) {
        efface(267,107,304,135);
        X_print=275;
        Y_print=110;
        print_lettre(texte_heure[0]-32,taille_glob);
        X_print=290;
        print_lettre(texte_heure[1]-32,taille_glob);
        strcpy(texte_heure_bk,texte_heure);
        difference=1;
    }
    if ((outil_bk==1)&&(difference==1)) {
        set_outil(1,X_pos_bk,Y_pos_bk);
        //goto_2D_short(X_pos_bk,Y_pos_bk,2000);
    }

    X_print=X_backup;
    Y_print=Y_backup;
    //X_pos=X_pos_bk;
    //Y_pos=Y_pos_bk;
    cons_servo_main=cons_servo_main_bk;
    precis=precis_bk;
}

void efface_ligne (int line_nb)
{
    float i;
    //set_outil(1);
    switch (line_nb) {
        case 1 :
            set_outil(1,0,112);
            //goto_2D_line(0,104);
            //wait(2);
            set_poignet(5);
            for (i=0; i<31; i=i+10.6) {
                goto_2D_line(0,112+i);//104
                //print_heure();
                goto_2D_line(120,116+i);//113
                print_heure();
                goto_2D_line(240,109+i);//104
                print_heure();
                //goto_2D_line(360,107+i);
                //goto_2D_line(360,107+i+5);
                goto_2D_line(265,108+i);
                print_heure();
                goto_2D_line(265,108+i+5.3);
                print_heure();
                goto_2D_line(240,109+i+5.3);
                print_heure();
                goto_2D_line(120,116+i+5.3);
                print_heure();
                goto_2D_line(0,112+i+5.3);
                //print_heure();
            }
            break;
        case 2 :
            set_outil(1,0,70);
            //goto_2D_line(0,70);
            //wait(2);
            set_poignet(5);
            for (i=0; i<31; i=i+10.6) { //8
                goto_2D_line(0,76+i);//104
                //print_heure();
                goto_2D_line(120,81+i);//113
                print_heure();
                goto_2D_line(240,78+i);//104
                print_heure();
                goto_2D_line(360,72+i);
                print_heure();
                goto_2D_line(360,72+i+5.3);
                print_heure();
                goto_2D_line(240,78+i+5.3);
                print_heure();
                goto_2D_line(120,81+i+5.3);
                print_heure();
                goto_2D_line(0,76+i+5.3);//4
                //print_heure();
            }
            break;
        case 3 :
            //goto_2D_line(0,37);
            set_outil(1,0,37);
            //wait(2);
            set_poignet(5);
            cons_servo_main=745;
            for (i=0; i<31; i=i+10.6) {
                goto_2D_line(0,39+i);//104
                //print_heure();
                goto_2D_line(120,46+i);//113
                print_heure();
                goto_2D_line(240,47+i);//104
                print_heure();
                goto_2D_line(360,44+i);
                print_heure();
                goto_2D_line(360,44+i+5.3);
                print_heure();
                goto_2D_line(240,47+i+5.3);
                print_heure();
                goto_2D_line(120,46+i+5.3);
                print_heure();
                goto_2D_line(0,39+i+5.3);
            }
            break;

        case 4 :
            //goto_2D_line(0,5);
            set_outil(1,0,5);
            //wait(2);
            set_poignet(5);
            cons_servo_main=740;
            for (i=0; i<31; i=i+10.6) {
                goto_2D_line(0,5+i);//104
                //print_heure();
                goto_2D_line(120,12+i);//113
                print_heure();
                goto_2D_line(240,12+i);//104
                print_heure();
                goto_2D_line(360,8+i);
                print_heure();
                goto_2D_line(360,8+i+5.3);
                print_heure();
                goto_2D_line(240,12+i+5.3);
                print_heure();
                goto_2D_line(120,12+i+5.3);
                print_heure();
                goto_2D_line(0,5+i+5.3);
            }
            break;
    }
    set_poignet(4);

    //set_outil(0);
}

void retour_ligne(void)
{
    switch (ligne) {
        case 1:
            remplissage[1]=1;
            if (remplissage[2]==1) {
                efface_ligne(2);
            }
            X_print=1;
            Y_print=77;
            ligne=2;
            break;
        case 2:
            remplissage[2]=1;
            if (remplissage[3]==1) {
                efface_ligne(3);
            }
            X_print=1;
            Y_print=44;
            ligne=3;
            break;
        case 3:
            remplissage[3]=1;
            if (remplissage[4]==1) {
                efface_ligne(4);
            }
            X_print=1;
            Y_print=11;
            ligne=4;
            break;
        case 4:
            remplissage[4]=1;
            if (remplissage[1]==1) {
                efface_ligne(1);
            }
            X_print=1;
            Y_print=110;
            ligne=1;
            break;
    }
}

void print_heure_initial(void)
{
    char texte_heure[10];
    //float X_backup, Y_backup;

    struct tm * timeinfo;
    time_t seconds = time(NULL);
    timeinfo = localtime (&seconds);
    strftime(texte_heure_bk,10,"%H",timeinfo);
    strftime(texte_minute_bk,10,"%M",timeinfo);
    X_print=275;
    Y_print=110;
    print_lettre(texte_heure_bk[0]-32,taille_glob);
    X_print=290;
    print_lettre(texte_heure_bk[1]-32,taille_glob);
    X_print=310;
    print_lettre(104-32,taille_glob);
    X_print=330;
    print_lettre(texte_minute_bk[0]-32,taille_glob);
    X_print=345;
    print_lettre(texte_minute_bk[1]-32,taille_glob);
}


void print_chaine(char* chaine)
{
    int i=0;
    int i_fictif=0;
    int retour_ligne_loc=0;
    int rupt=0;
    while (chaine[i]!=0) {
        print_heure();
        retour_ligne_loc=0;
        //printf("interp: %d\r\n",chaine[i]);
        if (chaine[i]>31) {
            print_lettre(chaine[i]-32,taille_glob);
        } else if (chaine[i]==10) {
            retour_ligne();
            //X_print=1;
            //Y_print=Y_print-22*taille_glob;
        }
        if ((X_print>345)||((ligne==1)&&(X_print>270))) {
            retour_ligne();
            //X_print=1;
            //Y_print=Y_print-22*taille_glob;
            retour_ligne_loc=1;
        }
        //i++;
        if ((chaine[i]==32)&&(retour_ligne_loc==0)) { //determine si retour a la ligne suite a espace
            X_fictif=X_print;
            i_fictif=i+1;
            rupt=0;
            while (rupt==0) { //on fait avancer X_fictif jusqu'au prochain caractère espace ou retour ou fin
                if (chaine[i_fictif]>31) {
                    print_lettre_fictif(chaine[i_fictif]-32,taille_glob);
                }
                //pc.printf("Xfictif %f\r\n",X_fictif);
                if ((X_fictif>345)||((ligne==1)&&(X_fictif>270))) {
                    rupt=2;
                }
                if ((chaine[i_fictif]==32)||(chaine[i_fictif]==10)||(chaine[i_fictif]==0)) {
                    rupt=1;
                    //pc.printf("rupt 1 %d\r\n",chaine[i_fictif]);
                }
                i_fictif++;
            }
            if (rupt==2) {
                retour_ligne();
                //X_print=1;
                //Y_print=Y_print-22*taille_glob;
                //pc.printf("rupt 2\r\n");
            }
        }
        i++;
    }
}





int main()
{
    FILE* fileid;
    int i,j,k;
    char montexte[600];
    float aaa, bbb, ccc, ddd, eee;

    struct tm * timeinfo;

    time_t seconds = time(NULL);
    // ********* initialisations *******
    //while(1){}
    pc.baud(115200);
    pc.printf("bijour\r\n");
    tick_attached_coude=0;
    tick_attached_epaule=0;
    X_print=1;
    Y_print=110; //110
    ligne=1;
    precis=0;
    outil=0;
    taille_glob=1.5;
    appel_servo.attach_us(&tick_servo, 20000);
    //myled=1;
    //wait(1);
    //myled=0;
    //while(1) {
    //    aaa=potard_1.read();
    //    i=switch_epaule.read();
    //    j=switch_coude.read();
    //    pc.printf("S1:%i S2:%i potard:%f\r\n", i,j,aaa);
    //    wait(1);
    //}

    //for (i=1;i<150;i++) {
    //    pc.printf("i= %d",i);
    //    stepper_clk_1=1;
    //    stepper_clk_2=1;
    //    wait_us(10);
    //    stepper_clk_1=0;
    //    stepper_clk_2=0;
    //    wait_ms(1000);
    //}
    cons_servo_main=servo_neutre;
    wait(1);
    
    //while(1) {
    //    cons_servo_main=1800;
    //    wait(3);
    //    cons_servo_main=1200;
    //    wait(3);
    //    }

    fileid=fopen("/local/input.txt", "r");
    fread(montexte,1,500,fileid);

    montexte[500]=0;
    fclose(fileid);
    for (i=0; i<38; i++) {
        printf(":%d\r\n",montexte[i]);
    }
    pc.printf("Time brut = %d\r\n", seconds);
    pc.printf("Time = %s", ctime(&seconds));
    //set_time(1503151338);//set_time(1336478783);
    timeinfo = localtime (&seconds);

    //strftime(montexte,10,"%Hh%M",timeinfo);
    //pc.printf(montexte);

    init_stepper();
    //setpos_ang (0, 0, 3000);
    //tick_detach();
    //set_poignet(1);
    //wait(5);
    //set_poignet(3);
    //setpos_ang (-850, 0, 3000);
    //tick_detach();
    //set_poignet(5);
    //wait(5);
    //set_poignet(3);
    //goto_2D_short(0,0,3000);
    //set_poignet(1);
    //goto_2D_line(360,0);
    //goto_2D_line(360,140);
    //goto_2D_line(0,140);
    //goto_2D_line(0,0);
    //wait(2);
    //set_outil(1);
    //goto_2D_line(0,0);
    //set_poignet(5);
    //goto_2D_line(360,0);
    //goto_2D_line(360,140);
    //goto_2D_line(0,140);
    //goto_2D_line(0,0);
    //set_outil(0);
    //printf(montexte);

    //wait (4);
    myled=!myled;
    //setpos_ang (0, 0, 3000);
    //tick_detach();
    //set_poignet(1);
    //wait(20);
    goto_2D_short (0,110, 1000);
    tick_detach();
    //goto_2D_line(0,134);
    //set_poignet(1);
    //goto_2D_line(360,134);
    //set_poignet(2);
    //goto_2D_line(360,104);
    //set_poignet(1);
    //goto_2D_line(0,104);
    //set_poignet(2);
    //goto_2D_line(0,101);
    //set_poignet(1);
    //goto_2D_line(360,101);
    //set_poignet(2);
    //goto_2D_line(360,71);
    //set_poignet(1);
    //goto_2D_line(0,71);
    //set_poignet(2);
    //goto_2D_line(0,68);
    //set_poignet(1);
    //goto_2D_line(360,68);
    //set_poignet(2);
    //goto_2D_line(360,38);
    //set_poignet(1);
    //goto_2D_line(0,38);
    //set_poignet(2);
    //goto_2D_line(0,35);
    //set_poignet(1);
    //goto_2D_line(360,35);
    //set_poignet(2);
    //goto_2D_line(360,5);
    //set_poignet(1);
    //goto_2D_line(0,5);
    //set_poignet(2);
    //wait(1);
    //efface_ligne(4);
    //setpos_ang (-850, 0, 1000);
    //setpos_ang (0, 0, 3000);
    //tick_detach();
    //wait(10);
    //cons_servo_main=servo_gomme_pos;
    //print_chaine(ctime(&seconds));

    print_heure_initial();
    X_print=1;
    Y_print=110;//110
    //taille_glob=3;
    //print_chaine("ROB");

    //circle_2D(108,68,8,-1.57,-3.14);//98
    //goto_2D_line(100,100);//90
    //circle_2D(108,100,8,3.14,1.57);//98
    //goto_2D_line(140,108);//130
    //circle_2D(140,100,8,1.57,0);//130
    //goto_2D_line(148,68);//138
    //circle_2D(140,68,8,0,-1.57);//130
    //goto_2D_line(108,60);//98
    //set_poignet(2);

    //circle_2D (114,88,6,-3.14,3.14);//104
    //circle_2D (134,88,6,-3.14,3.14);//124
    //circle_2D(96,84,15,1.57,4.71);//86
    //goto_2D_line(96,99);//86
    //set_poignet(2);

    //circle_2D(152,84,15,1.57,-1.57);//142
    //goto_2D_line(152,99);//142
    //set_poignet(2);
    //circle_2D(124,108,15,3.14,0);//114
    //set_poignet(2);
    //goto_2D_line(124,123);//114
    //set_poignet(1);
    //goto_2D_line(124,135);//114
    //set_poignet(2);
    //circle_2D(124,140,5,-3.14,3.14);//114

    //X_print=165;
    //print_chaine("T");
    //taille_glob=1.5;
    //X_print=20;
    //Y_print=30;
    //print_chaine("- MAKER.COM");
    //set_poignet(2);
    //goto_2D_line(350,130);
    //set_poignet(3);
    //while(1) {}

    while(1) {
        //print_chaine("Bonjour a tous!");
        print_chaine(montexte);
        //set_outil(1);
        //wait(2);
        //set_outil(0);
        //efface(1,20,300,44);//110 134
    }
    while(1) {}
    while(1) {
        for (i=26; i<40; i++) {
            print_lettre (i,2);
        }
        X_print=20;
        Y_print=30;
        goto_2D_line(20,40);
        for (i=40; i<53; i++) {
            print_lettre (i,2);
        }
        goto_2D_line(350,100);
        //print_lettre(1, 2);
        //print_lettre(2, 2);
        //print_lettre(3, 2);
        //print_lettre(4, 2);
        //print_lettre(5, 2);
        //print_lettre(6, 2);
        //X_print=10;
        //Y_print=10;
        //print_lettre(1, 2);
        //print_lettre(2, 2);
        //print_lettre(3, 2);
        //print_lettre(4, 2);
        //print_lettre(5, 2);
        //print_lettre(6, 2);
        wait(15);
        X_print=1;
        Y_print=60;
    }
    //cons_servo_main=1800;//1800
    set_poignet(3);

    while (1) {

        wait(1);

        goto_2D_line(50,10);
        goto_2D_line(50,70);
        circle_2D(50, 55, 15, 1.57, -1.57);
        circle_2D(50, 25, 15, 1.57, -1.57);
        wait(2);
        goto_2D_line(360,0);
        myled=!myled;
        goto_2D_line(360,110);
        myled=!myled;
        goto_2D_line(0,110);
        myled=!myled;
        goto_2D_line(0,0);//
        myled=!myled;
        //goto_2D_line(180,0);
        //myled=!myled;
        //goto_2D_line(180,110);
        //myled=!myled;
        //goto_2D_line(360,110);
        //myled=!myled;
        //goto_2D_line(360,0);
        //myled=!myled;
        //goto_2D_line(180,0);
        //myled=!myled;
        //goto_2D_line(180,110);
        //myled=!myled;
        //goto_2D_line(0,110);
        //myled=!myled;
        //goto_2D_line(0,0);
        circle_2D(180, 55, 55, 0, 4.7);
        circle_2D(180, 55, 20, -1.57, 1.57);
        circle_2D(210, 55, 20, -1.57, 1.57);
        circle_2D(250, 55, 20, -1.57, 1.57);
        circle_2D(290, 55, 20, -1.57, 1.57);

        //myled=!myled;
        //goto_2D_short (180,0, 1000);
        //wait(2);
        //myled=!myled;
        //goto_2D_short (360,0, 1000);
        //wait(2);
        //myled=!myled;
        //goto_2D_short (360,110, 1000);
        //wait(2);
        //myled=!myled;
        //goto_2D_short (180,110, 1000);
        //wait(2);
        //myled=!myled;
        //goto_2D_short (0,110, 1000);
        //wait(2)
        //goto_2D_short (360,110);
    }
    while(1) {}

    a_coude=0;
    a_epaule=0;
    aaa=1000;
    bbb=0;
    while (1) {
        myled=!myled;
        setpos_ang (aaa,bbb, 2000);
        myled=!myled;
        setpos_ang (aaa,aaa, 2000);
        myled=!myled;
        setpos_ang (bbb,aaa, 500);
        myled=!myled;
        setpos_ang (bbb,bbb, 500);
    }


    while(1) {
        myled = 1;
        wait(0.2);
        myled = 0;
        wait(0.2);
    }
}