Revision 1:3989eb5bad79, committed 2018-03-14

Comitter:

albeiro

Date:

Wed Mar 14 05:33:27 2018 +0000

Parent:

0:abaa541e10d5

Commit message:

programa piccolo

Changed in this revision

--- a/main.cpp	Wed Mar 07 01:00:46 2018 +0000
+++ b/main.cpp	Wed Mar 14 05:33:27 2018 +0000
@@ -8,25 +8,165 @@
 #define CM_NODRAW 0xfb
 #define CM_STOP 0xfa
 #define CM_END 0xf0
+#define MEM_TYPE uint32_t
+#define MAXPOS 50       
+#define POSDRAW 10 
+#define ss_time 100 
+#include "math.h"
 
 
 
 
-Serial command(USBTX, USBRX);
+void ejecutar(){
+    command.printf("se esta ejecutando el dibujo..."); 
+     
+  
+    PwmOut myServoX(PB_3);
+    PwmOut myServoY(PB_4);
+    PwmOut myServoZ(PB_5);
+   
+    
+    uint32_t  posx_old=0;     // posición anterior del eje X
+    uint32_t  posy_old=0;     // posición anterior del eje Y
+    uint32_t  ss_time=100;     // tiempo  de espera para moverse 1 mm en microsegundos 
+    
+    void  put_sstime(uint32_t vtime)
+    {
+        s_time = vtime;
+    }
+    
+    int coord2us(float coord);
+    {
+    if(0 <= coord <= MAXPOS)
+    return int(750+coord*1900/50);// u6
+    return 750;
+    }
+ 
+   void sstime(uint32_t x, uint32_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 vertex2d(uint32_t x, uint32_t y)
+    { 
+    int pulseX = coord2us(x);
+    int pulseY = coord2us(y);
+    
+        myServoX.pulsewidth_us(pulseX);
+        myServoY.pulsewidth_us(pulseY);
+        sstime(x,y); 
+    }
+   
+   void  home () 
+   {
+        nodraw ();
+        vertex2d ( 0,0 );
+    }    
+    
+    void  draw () ;
+    {
+        myServoZ.pulsewidth_us (POSDRAW);
+        wait_ms (ss_time * 2 );
+    }
+ 
+    void  nodraw () ;
+    {
+        myServoZ.pulsewidth_us (MAXPOS);
+        wait_ms (ss_time * 2 );
+    }
+    void  initdraw ( float  x,  fLoat  y) ;
+    {
+        vertex2d (x, y);
+        dibujar();
+    } 
+    void  init_servo ();
+    {
+        myServoX.period_ms ( 20 );
+        myServoY.period_ms ( 20 );
+         myServoZ.period_ms ( 20 );
+    }
+
+ }
+ 
 
 
-void ejecutar(){
-    command.printf("se esta ejecutando el dibujo...");    
-    // ubicar acà el codigo
-}
+
+
+
+
+
+
+
+
 void guardar(){
     command.printf("se inicia el comado de guardar..");    
     // ubicar acà el codigo
+    int mem_head = 0;
+int mem_tail = 0;
+uint32_t full = 0;
+ 
+MEM_TYPE buffer[MEM_SIZE];
+Serial command(USBTX, USBRX); 
+ 
+uint32_t mem_free()
+{
+ mem_head=0;
+ full=0;
+}
+ 
+uint32_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;
+}
+uint32_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;
 }
+ 
+int main(){
+    
+    mem_put(command.getc());
+    mem_put(command.getc());
+    mem_put(command.getc());
+    mem_put(command.getc());
+    MEM_TYPE val;
+    mem_get(&val);
+    command.putc(val);
+    }
+}
+
+
+
+
+
+
+
 void init_serial()
 {
+    Serial command(USBTX, USBRX);
     command.baud(9600);    
+    pc.format(8,none,1);
 }
 int main() {
     init_servo();