Diff: main.cpp

Revision:

20:b7f2e428b24c

Parent:

19:082e74f5e5ab

--- a/main.cpp	Thu Oct 19 23:43:31 2017 +0000
+++ b/main.cpp	Fri Oct 20 00:50:00 2017 +0000
@@ -7,7 +7,6 @@
 
 Serial command(USBTX, USBRX);
 
-#define DEBUG 1
 
 uint8_t buffer_cmd[BUFF_SIZE]={0,0,0,0};
 
@@ -87,55 +86,9 @@
         command.printf("draw line: ");
         command.printf("Coord Xi= %i Coord Yi = %i Coord Xf= %i Coord Yf = %i\n", xi,yi,xf,yf);
     #endif
-  //  line( xi,  yi, xf,  yf);
-    
-    float xp; float yp;
-    float m=100000;  float b;
-    int  st=1 ;
-    m=(float)(yf-yi)/(xf-xi);
+    line( xi,  yi, xf,  yf);
     
-    int run=1;            
-    if (abs(m)<=1){    
-        b=(float)yf-(float)(m*xf);
-        command.printf(" m =  %f b= %f \n", m,b);
-        xp =xi;
-        while(run)
-        {
-            yp =m*xp+b;
-            
-            print_bin2hex(xp);  print_bin2hex(yp);  
-            command.printf(" \n");
-            if (xf>xi){ 
-                xp=xp+st;
-                if (xp>xf)run=0;
-            }else {
-                xp-=st;   
-                if (xp<xf)run=0;
-            }
-        
-        }
-    }else{ 
-        m=(float)(xf-xi)/(yf-yi);
-        b=(float)xf-(float)(m*yf);
-        command.printf(" m =  %f b= %f \n", m,b);
-        yp =yi;
-        while(run)
-        {
-            xp =m*yp+b;
-            
-            print_bin2hex(xp);  print_bin2hex(yp);  
-            command.printf(" \n");
-            if (yf>yi){ 
-                yp=yp+st;
-                if (yp>yf)run=0;
-            }else {
-                yp-=st;   
-                if (yp<yf)run=0;
-            }
-        
-        }
-    }
-}
+ } 
     
 void command_rectangle(){
       uint8_t x=buffer_cmd[REC_POS_X];
@@ -150,9 +103,14 @@
     rectangle( x,  y,  width,  height);
     }
 void command_cicle(){
+      uint8_t x=buffer_cmd[CICLE_POS_X];
+      uint8_t y=buffer_cmd[CICLE_POS_Y];
+      uint8_t r=buffer_cmd[CICLE_POS_R];
 #if DEBUG
         command.printf("draw cicle: ");
+        command.printf("Centro X= %i  Centro Y = %i radio= %i \n", x,y,r);
     #endif
+    circle(x,y,r);
 }
 void command_home(){
 #if DEBUG
@@ -168,6 +126,7 @@
 void command_sstime(){
      #if DEBUG
         command.printf("config tiempo entre movimientos de los servos: ");
+        command.printf("SSTIME = %i\n", buffer_cmd[POS_1]);
     #endif
     put_sstime(buffer_cmd[POS_1]);
      }    
@@ -178,17 +137,17 @@
      }
 void command_pause(){
      #if DEBUG
-        command.printf("picolo en pausa ");
+        command.printf("piccolo en pausa ");
     #endif
      }
 void command_reanudar(){
      #if DEBUG
-        command.printf("reanuda picolo ");
+        command.printf("reanuda piccolo ");
     #endif
      }
 void command_stepmotor(){
      #if DEBUG
-        command.printf("comando mover picolo: ");
+        command.printf("comando mover piccolo: ");
     #endif
      }