Revision 0:4828681bf1f8, committed 2018-04-17

Comitter:

Stevenvasquez

Date:

Tue Apr 17 00:28:17 2018 +0000

Commit message:

lalod

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/draw.cpp	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,81 @@
+
+#include "draw.h"
+#include "mbed.h"
+#include "math.h"
+
+
+PwmOut myServoZ(PB_3);
+PwmOut myServoX(PB_4);
+PwmOut myServoY(PB_5);
+
+uint8_t  posx_old=0;     // posición anterior del eje X
+uint8_t  posy_old=0;     // posición anterior del eje Y
+uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
+
+void put_sstime(uint8_t vtime){
+    ss_time=vtime;
+    
+}
+
+int coord2us(float coord)
+{
+    if(0 <= coord <= MAXPOS)
+        return int(750+coord*1900/50);// u6
+    return 750;
+
+}
+
+void sstime(uint8_t x, uint8_t y)
+{
+    double dx=abs(x-posx_old);
+    double dy=abs(y-posy_old);
+    double dist= sqrt(dx*dx+dy*dy);
+    wait_ms((int)(ss_time*dist));
+    posx_old =x;
+    posy_old=y;
+    
+ }
+ 
+void draw(){
+myServoZ.pulsewidth_us(coord2us(POSDRAW));
+wait_ms(ss_time*10);
+}
+
+void nodraw(){
+myServoZ.pulsewidth_us(coord2us(POSNODRAW));
+wait_ms(ss_time*10);
+}
+
+
+void vertex2d(uint8_t x, uint8_t y){
+
+    int pulseX = coord2us(x);
+    int pulseY = coord2us(y);
+    
+    myServoX.pulsewidth_us(pulseX);
+    myServoY.pulsewidth_us(pulseY);
+   
+    sstime(x,y); 
+
+}
+
+void initdraw(float x, float y){
+    vertex2d (x,y);
+    draw();
+}
+
+void home(){
+    nodraw();
+    vertex2d(0 ,0);
+}    
+
+
+
+void init_servo()
+{
+   myServoX.period_ms(20);
+   myServoY.period_ms(20);
+   myServoZ.period_ms(20);
+
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/draw.h	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,20 @@
+#ifndef DRAW_H   
+#define DRAW_H  
+
+#include "mbed.h"
+
+#define MAXPOS 50       // en milimetros
+#define POSDRAW 50  
+#define POSNODRAW 10  
+
+
+void init_servo();
+void draw();
+void nodraw();
+void vertex2d(uint8_t x, uint8_t y);
+
+void home();
+void initdraw(float x, float y);
+void put_sstime(uint8_t vtime);
+
+#endif //  DRAW_H 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,158 @@
+#include "mbed.h"
+#define POSMAX 50       // en milimetros
+#define POSDRAW 30      // en milimetros
+#define BAUD 9600      // Configuracion de baudios
+#define MEM_SIZE 10
+#define MEM_TYPE uint32_t
+ 
+#define CM_EJECUTAR 0xff
+#define CM_GUARDAR 0xfe
+#define CM_VERTEX2D 0xfd
+#define CM_DRAW 0xfc
+#define CM_NODRAW 0xfb
+#define CM_STOP 0xfa
+#define CM_END 0xf0
+ 
+PwmOut ServoX(PB_3); //D3
+PwmOut ServoY(PB_4); //D5
+PwmOut ServoZ(PB_10); //D6
+ 
+MEM_TYPE buffer[MEM_SIZE];
+Serial pc(USBTX,USBRX); // Comunicación Serial
+ 
+uint8_t  posx_old=0;     // posición anterior del eje X
+uint8_t  posy_old=0;     // posición anterior del eje Y
+uint8_t  ss_time=100;     // tiempo  de espera para moverse 1 mm en microsegundos
+int mem_head;
+int mem_tail;
+uint8_t full;
+ 
+uint8_t mem_put(MEM_TYPE data)
+{
+    if (full)
+        return 1;
+    buffer[mem_head] = data;
+    mem_head += 1;
+    if (mem_head == MEM_SIZE)
+        full =1;
+ 
+    return 0;
+}
+uint8_t mem_get(MEM_TYPE* data)
+{
+    if (mem_head == 0)
+        return 1; 
+    if (mem_head == mem_tail)
+        return 1; 
+ 
+    *data = buffer[mem_tail];
+    mem_tail += 1;
+ 
+    return 0;
+}
+void mem_free()
+{
+ mem_head=0;
+ full=0;
+} 
+void sstime(uint8_t x, uint8_t y)
+{
+    double dx=abs(x-posx_old);
+    double dy=abs(y-posy_old);
+    double dist= sqrt(dx*dx+dy*dy);
+    wait_ms((int)(ss_time*dist));
+    posx_old = x;
+    posy_old= y;
+   
+}
+int coord2pulse(float coord)      // conversión de coordenadas en Y
+{
+    if(0 <= coord <= POSMAX)
+        return int(700+coord*1900/50);
+    return 700;
+}
+void vertex2d(uint8_t x, uint8_t y)     // Funcion de llamado de conversiones  X y Y
+{                                   
+    int pulseX = coord2pulse(x);
+    int pulseY = coord2pulse(y);
+    ServoX.pulsewidth_us(pulseX);
+    ServoY.pulsewidth_us(pulseY);
+    sstime(x,y);
+    wait_ms(ss_time);
+}
+void draw() // Función para enviarle la posicion  de dibujo a Z, lo mueve hacia abajo. 
+    {
+    int pulseZ=coord2pulse(POSDRAW);    
+    ServoZ.pulsewidth_us(pulseZ);
+    pc.printf(" Dibujando...");
+    wait_ms(ss_time*2);
+    }
+void nodraw() // Función para enviarle la posicion de no dibujar a  Z, lo mueve hacia arriba. 
+    {     
+    int pulseZ=coord2pulse(0);    
+    ServoZ.pulsewidth_us(pulseZ);
+    pc.printf(" Dibujo Terminado...");
+    wait_ms(ss_time*2);
+    }
+void ejecutar(){
+    pc.printf("se esta ejecutando el dibujo...");    
+    // ubicar acà el codigo
+}
+void guardar(){
+    pc.printf("se inicia el comado de guardar..");    
+    // ubicar acà el codigo
+    
+}
+void init_serial()      // configuracion de  baudios a pc
+{
+    pc.baud(BAUD);    
+}
+void init_servos()      // configuracion de  periodo
+{
+    ServoX.period_ms(20);
+    ServoY.period_ms(20);
+    ServoZ.period_ms(20);  
+}
+void init_draw(float x, float y)
+{
+    vertex2d (x,y);
+    wait_ms(ss_time);
+    draw();
+}
+void home()
+{
+    nodraw();
+    vertex2d(0,0);
+    pc.printf("Posicion Home");
+    wait_ms(ss_time);
+}
+void put_sstime(uint8_t vtime)
+{
+    ss_time=vtime;
+   
+}
+ 
+ 
+int main() {
+ 
+    init_servos();
+    init_serial();
+    int posx=0;
+    int posy=0;
+    draw();
+    while(1)
+    {
+        wait(1);
+        vertex2d(posx,posy);
+        posx+=5;
+        posy+=5;
+        if (posx > POSMAX and posy > POSMAX)
+        {  
+            posx=0;
+            posy=0;
+            nodraw();
+        }
+ 
+     }
+ 
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.h	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,59 @@
+#ifndef MAIN_H   
+#define MAIN_H  
+
+
+#include "draw.h"
+#include "memory.h"
+//******************************************************************************
+// Desarrollado por ferney beltran fbeltran@ecci.edu.co
+//******************************************************************************
+
+//*****************************************************************************
+//  COMANDOS
+//  |POS_0|POS_1|POS_2| POS_3 | 
+//  | #C  |  a  |  b  |   c   |
+//
+// #C       ->  Indica el comando FF, FE, ...
+// a        ->  es el fin de comando F0 en otros casos es el valor de la coord X
+//b         ->  Coordenada Y
+// c        ->   fin de comando F0
+
+// Nota: El fin  de comando no se almacena 
+//******************************************************************************
+
+/*
+prueba 1
+ff f0 
+
+prueba 2
+fe f0 fd 00 00 f0 fc f0 fd 00 32 f0 fd 32 32 f0 fd 32 00 f0 fd 00 00 f0 fb f0  fa f0
+ff f0
+
+prueba 3
+fe f0 fd 00 00 f0 fc f0 fd 00 0A f0 fd 32 0A f0 fd 32 14 f0 fd 00 14 f0 fd 00 1E f0 fd 32 1E f0 fd 32 28 f0 fd 00 28 f0 fa f0
+ff f0
+
+
+
+*/
+
+#define DEBUG 1
+
+
+void debug_m(char *s , ... );
+uint32_t read_command();
+void init_serial();
+void drawing();
+void saving();
+
+
+/********************* PARAMETROS PARA DEFINIR  EL  COMMANDO ******************/
+#define CM_DRAWING  0xff
+#define CM_SAVING   0xfe
+#define CM_VERTEX2D 0xfd
+#define CM_DRAW 0xfc
+#define CM_NODRAW 0xfb
+#define CM_STOP 0xfa
+#define CM_END 0xf0
+
+#endif //  MAIN_H 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/994bdf8177cb
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/memory.cpp	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,46 @@
+#include "mbed.h"
+#include "memory.h"
+
+int mem_head = 0;
+int mem_tail = 0;
+uint8_t full = 0;
+
+MEM_TYPE buffer[MEM_SIZE];
+
+void tail_reset()
+{
+ mem_tail=0;
+}
+
+void mem_free()
+{
+ mem_head=0;
+ full=0;
+}
+
+
+uint8_t mem_put(MEM_TYPE data)
+{
+ 
+    if (full)
+        return 1;
+    buffer[mem_head] = data;
+    mem_head += 1;
+    if (mem_head == MEM_SIZE)
+        full =1;
+    return 0;
+}
+
+uint8_t mem_get(MEM_TYPE* data)
+{
+    if (mem_head == 0)
+        return 1; 
+    if (mem_head == mem_tail)
+        return 1; 
+    
+ 
+    *data = buffer[mem_tail];
+    mem_tail += 1;
+  
+    return 0;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/memory.h	Tue Apr 17 00:28:17 2018 +0000
@@ -0,0 +1,18 @@
+#ifndef MEMORY_ARRAY_H   
+#define MEMORY_ARRAY_H  
+
+#include "mbed.h"
+
+#define MEM_SIZE 10
+#define MEM_TYPE uint32_t
+
+
+
+void tail_reset();
+void  mem_free();
+uint8_t mem_put(MEM_TYPE data);
+uint8_t mem_get(MEM_TYPE* data);
+
+
+
+#endif //  MEMORY_H 
\ No newline at end of file