Guillaume F4HDK
/
scribe_stepper_2
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main.cpp
- Committer:
- Leon
- Date:
- 2018-04-22
- Revision:
- 0:694620b4c620
- Child:
- 1:163fa4a925d9
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
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,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
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,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
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,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
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,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
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,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
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,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
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,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);
}
}