Diff: lissajous.cpp

Revision:

2:b3c668ec43ac

Parent:

1:66ee619f206b

Child:

3:7aaf0072cc22

diff -r 66ee619f206b -r b3c668ec43ac lissajous.cpp
--- a/lissajous.cpp	Thu Feb 06 08:45:02 2014 +0000
+++ b/lissajous.cpp	Thu Feb 20 09:27:18 2014 +0000
@@ -1,8 +1,10 @@
 #include "mbed.h"
-#include "rtos.h"
+//#include "rtos.h"
+#include "MODSERIAL.h"
 #include "cnc.h"
-extern  Serial pc;
-extern  void    mover   (struct pirbufgrain & ins)   ;
+extern  MODSERIAL pc;
+//extern  Serial pc;
+extern  void    move_to_XYZ   (struct pirbufgrain & ins)   ;
 /*
 This file contains one function:
 void    lissajous   ()  ;
@@ -12,17 +14,16 @@
 
 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
+//bool    liss_active = false;    //  global flag used to prevent running more than once at a time
 
-void    lissajous   (void const * arg_string)  {
+void    lissajous   (double feed_rate)  {
     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
+                    MaxX            = 40.0,     // Plot size X to move +/- MaxX
+                    MaxY            = 25.0,     // 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
+                    StartAngDegY    = 10.0,
+                    FreqRatio       = 0.255;
     const int       StepsPerRevX    = 100,
                     NumofXCycles    = 16;
     const double    AngleStepX  = (2.0 * PI / StepsPerRevX),
@@ -33,17 +34,22 @@
     double  AngleX = StartAngDegX * Deg2Rad,
             AngleY = StartAngDegY * Deg2Rad;
             
-    pc.printf("In lissajous func, Loading Lissajous\r\n");
-    while   (1) {
-        while   (!liss_active)  //  Other code to activate
-            osThreadYield();
+//    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 = 0.0;
+        Coords.y = 0.0;
+        Coords.z = 12.7;
+        Coords.f_rate = feed_rate;
+        move_to_XYZ (Coords);
         Coords.x = MaxX * cos(AngleX);  //  Coordinates of start position
         Coords.y = MaxY * sin(AngleY);  //  assembled into packet for motion controller
+        move_to_XYZ (Coords);
         Coords.z = 0.0;
-        Coords.f_rate = FeedRate;
-        mover(Coords);
+        move_to_XYZ (Coords);
     
         for (int i = 0; i < NumofXCycles; i++)   {      // Outer loop 'NumofXCycles' times
             for (int j = 0; j < StepsPerRevX; j++)   {  // Inner loop 'StepsPerRevX' times
@@ -51,16 +57,22 @@
                 AngleY += AngleStepY;
                 Coords.x = MaxX * cos(AngleX);
                 Coords.y = MaxY * sin(AngleY);
-                mover(Coords);
-                osThreadYield();
+                move_to_XYZ (Coords);
+//                osThreadYield();
             }
+            pc.printf("liss cyc %d\r\n", i);
         }
+        Coords.z = 100.0;
+        move_to_XYZ (Coords);
+        Coords.x = 0.0;
+        Coords.y = 0.0;
+        move_to_XYZ (Coords);
         
         pc.printf("Lissajous finish point X%f, Y%f\r\n", Coords.x, Coords.y);
-        liss_active = false;
+//        liss_active = false;
         pc.printf("Leaving liss\r\n");
-        osThreadYield();    //  terminate would be better here
-    }   //  end of while(1)
+//        osThreadYield();    //  terminate would be better here
+//    }   //  end of while(1)
 }
 
 /*