Vanesa Lara Cruz
/
serial-protocol-V2
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02_LAB_serial_protocol
by 
ferney alberto beltran molina
Revision 20:b7f2e428b24c, committed 2017-10-20
- Comitter:
- fabeltranm
- Date:
- Fri Oct 20 00:50:00 2017 +0000
- Parent:
- 19:082e74f5e5ab
- Commit message:
- update debug draw
Changed in this revision
--- a/draw.cpp Thu Oct 19 23:43:31 2017 +0000
+++ b/draw.cpp Fri Oct 20 00:50:00 2017 +0000
@@ -3,6 +3,10 @@
#include "mbed.h"
#include "math.h"
+#if DEBUG_DRAW
+ Serial debugdraw(USBTX, USBRX);
+#endif
+
DigitalOut led(LED1);
PwmOut myServoX(PB_3);
@@ -64,7 +68,7 @@
myServoX.pulsewidth_us(pulseX);
myServoY.pulsewidth_us(pulseY);
- wait_ms(ss_time); //TODO: CALCULAR EL TIEMPO DE DONDE VIENE
+ sstime();
}
@@ -88,14 +92,17 @@
if (abs(m)<=1){
b=(float)yf-(float)(m*xf);
- // command.printf(" m = %f b= %f \n", m,b);
+ #if DEBUG_DRAW
+ debugdraw.printf("debugdraw m = %f b= %f \n", m,b);
+ #endif
xp =xi;
while(run)
{
yp =m*xp+b;
vertex2d(xp ,yp);
- //print_bin2hex(xp); print_bin2hex(yp);
- //command.printf(" \n");
+ #if DEBUG_DRAW
+ debugdraw.printf(" debugdraw %f %f \n", xp,yp);
+ #endif
if (xf>xi){
xp=xp+st;
if (xp>xf)run=0;
@@ -108,14 +115,17 @@
}else{
m=(float)(xf-xi)/(yf-yi);
b=(float)xf-(float)(m*yf);
- // command.printf(" m = %f b= %f \n", m,b);
+ #if DEBUG_DRAW
+ debugdraw.printf("debugdraw m = %f b= %f \n", m,b);
+ #endif
yp =yi;
while(run)
{
xp =m*yp+b;
vertex2d(xp ,yp);
- // print_bin2hex(xp); print_bin2hex(yp);
- // command.printf(" \n");
+ #if DEBUG_DRAW
+ debugdraw.printf("debugdraw %f %f \n", xp,yp);
+ #endif
if (yf>yi){
yp=yp+st;
if (yp>yf)run=0;
--- a/draw.h Thu Oct 19 23:43:31 2017 +0000 +++ b/draw.h Fri Oct 20 00:50:00 2017 +0000 @@ -7,7 +7,9 @@ #define RSTEP 2 // en milimetros #define POSDRAW 10 - + + +#define DEBUG_DRAW 1 void led_on(uint16_t ts, uint16_t tms ); void draw(); @@ -18,6 +20,7 @@ void initdraw(float x, float y); void line(float xi, float yi, float xf, float yf); void rectangle(float x, float y, float width,float height); +void circle(float x, float y, float radio); void put_sstime(uint8_t vtime); #endif // DRAW_H \ No newline at end of file
--- 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
}
--- a/main.h Thu Oct 19 23:43:31 2017 +0000
+++ b/main.h Fri Oct 20 00:50:00 2017 +0000
@@ -21,6 +21,7 @@
+#define DEBUG 1
/********************* PARAMETROS PARA DEFINIR EL COMMANDO ******************/
#define BUFF_SIZE 6 //Tamaño del buffer
@@ -91,7 +92,22 @@
// COMANDOS
+/********************* PARAMETROS COMMANDO DRAW CICLE*********************/
+
+// el comando indica la posicion en X y Y del centro del circulo
+// y r es el radio del circlo
+//
+// |POS_i|POS_0|POS_1|POS_2| POS_3 | POS_4 | POS_5 |
+// | < | 03 | x | y | r | xxx | > |
+
+
#define COMMAND_CICLE 4
+
+#define CICLE_POS_X POS_1 // Posición de la coordenada central X
+#define CICLE_POS_Y POS_2 // Posición de la cordenada central de y
+#define CICLE_POS_R POS_3 // radio del circulo
+
+
#define COMMAND_HOME 5
#define COMMAND_RSTEPSERVO 6 //RESOLUCIÓN; número de lineas que dibuja para
// la figura completa