Diff: lissajous.cpp

Revision:

1:66ee619f206b

Parent:

0:5d0f270bfc87

Child:

2:b3c668ec43ac

--- a/lissajous.cpp	Fri Jan 31 11:16:21 2014 +0000
+++ b/lissajous.cpp	Thu Feb 06 08:45:02 2014 +0000
@@ -1,5 +1,8 @@
 #include "mbed.h"
-//extern  Serial pc;
+#include "rtos.h"
+#include "cnc.h"
+extern  Serial pc;
+extern  void    mover   (struct pirbufgrain & ins)   ;
 /*
 This file contains one function:
 void    lissajous   ()  ;
@@ -9,36 +12,55 @@
 
 Thus far we have proved only that both finish at the same point (give or take a few microns)
 */
+bool    liss_active = false;    //  global flag used to prevent running more than once at a time
 
-const double    Deg2Rad     = atan(1.0) / 45.0,
-                HALFPI      = 2.0 * atan(1.0),
-                TWOPI       = 8.0 * atan(1.0),
-                PI          = 4.0 * atan(1.0),
-                MaxX            = 6.40,
-                MaxY            = 3.20,
-                StartAngDegX    = 0.0,
-                StartAngDegY    = 10.0,
-                FreqRatio       = 0.254;
-const int       StepsPerRevX    = 100,
-                NumofXCycles    = 16;
+void    lissajous   (void const * arg_string)  {
+    const double    PI          = 4.0 * atan(1.0),  //3.142ish but more accurate
+                    Deg2Rad     = PI / 180.0, //  degrees to radian conversion factor
+                    MaxX            = 6.40,     // Plot size X to move +/- MaxX
+                    MaxY            = 6.4,   //3.20,     // Plot size Y to move +/- MaxY
+                    StartAngDegX    = 0.0,
+                    StartAngDegY    = 0.0,  //10.0,
+                    FreqRatio       = 1.0,  //0.254,
+                    FeedRate        = 500.0;    // In mm per minute
+    const int       StepsPerRevX    = 100,
+                    NumofXCycles    = 16;
+    const double    AngleStepX  = (2.0 * PI / StepsPerRevX),
+                    AngleStepY  = AngleStepX * FreqRatio;
 
-void    lissajous   ()  {
+//void    lissajous   (void const * arg_string)  {
+    struct  pirbufgrain Coords;
     double  AngleX = StartAngDegX * Deg2Rad,
-            AngleY = StartAngDegY * Deg2Rad,
-            AngleStepX  = (TWOPI / StepsPerRevX),
-            AngleStepY  = AngleStepX * FreqRatio,
-            X_Coord = MaxX * cos(AngleX),
-            Y_Coord = MaxY * sin(AngleY);
-
-    for (int i = 0; i < NumofXCycles; i++)   {
-        for (int j = 0; j < StepsPerRevX; j++)   {
-            AngleX += AngleStepX;
-            AngleY += AngleStepY;
-            X_Coord = MaxX * cos(AngleX);
-            Y_Coord = MaxY * sin(AngleY);
-        }    
-    }
-//    pc.printf("Lissajous finish point X%f, Y%f\r\n", X_Coord, Y_Coord);
+            AngleY = StartAngDegY * Deg2Rad;
+            
+    pc.printf("In lissajous func, Loading Lissajous\r\n");
+    while   (1) {
+        while   (!liss_active)  //  Other code to activate
+            osThreadYield();
+    //    liss_active = true;   //  this hapens in activating code
+        pc.printf("In lissajous func, Starting Lissajous, has been activated\r\n");
+        Coords.x = MaxX * cos(AngleX);  //  Coordinates of start position
+        Coords.y = MaxY * sin(AngleY);  //  assembled into packet for motion controller
+        Coords.z = 0.0;
+        Coords.f_rate = FeedRate;
+        mover(Coords);
+    
+        for (int i = 0; i < NumofXCycles; i++)   {      // Outer loop 'NumofXCycles' times
+            for (int j = 0; j < StepsPerRevX; j++)   {  // Inner loop 'StepsPerRevX' times
+                AngleX += AngleStepX;
+                AngleY += AngleStepY;
+                Coords.x = MaxX * cos(AngleX);
+                Coords.y = MaxY * sin(AngleY);
+                mover(Coords);
+                osThreadYield();
+            }
+        }
+        
+        pc.printf("Lissajous finish point X%f, Y%f\r\n", Coords.x, Coords.y);
+        liss_active = false;
+        pc.printf("Leaving liss\r\n");
+        osThreadYield();    //  terminate would be better here
+    }   //  end of while(1)
 }
 
 /*