el siguiente programa muestra la funcion de ejecutar y guardar del piccolo
Fork of 01-02EjercicioComunicacionSerial by
draw.cpp@1:3989eb5bad79, 2018-03-14 (annotated)
- Committer:
- albeiro
- Date:
- Wed Mar 14 05:33:27 2018 +0000
- Revision:
- 1:3989eb5bad79
- Parent:
- 0:abaa541e10d5
programa piccolo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
fabeltranm | 0:abaa541e10d5 | 1 | |
fabeltranm | 0:abaa541e10d5 | 2 | #include "draw.h" |
fabeltranm | 0:abaa541e10d5 | 3 | #include "mbed.h" |
fabeltranm | 0:abaa541e10d5 | 4 | #include "math.h" |
fabeltranm | 0:abaa541e10d5 | 5 | |
fabeltranm | 0:abaa541e10d5 | 6 | |
fabeltranm | 0:abaa541e10d5 | 7 | |
fabeltranm | 0:abaa541e10d5 | 8 | PwmOut myServoX(PB_3); |
fabeltranm | 0:abaa541e10d5 | 9 | PwmOut myServoY(PB_4); |
fabeltranm | 0:abaa541e10d5 | 10 | PwmOut myServoZ(PB_5); |
fabeltranm | 0:abaa541e10d5 | 11 | |
fabeltranm | 0:abaa541e10d5 | 12 | uint8_t posx_old=0; // posición anterior del eje X |
fabeltranm | 0:abaa541e10d5 | 13 | uint8_t posy_old=0; // posición anterior del eje Y |
fabeltranm | 0:abaa541e10d5 | 14 | uint8_t ss_time=100; // tiempo de espera para moverse 1 mm en microsegundos |
fabeltranm | 0:abaa541e10d5 | 15 | |
fabeltranm | 0:abaa541e10d5 | 16 | void put_sstime(uint8_t vtime){ |
fabeltranm | 0:abaa541e10d5 | 17 | ss_time=vtime; |
fabeltranm | 0:abaa541e10d5 | 18 | |
fabeltranm | 0:abaa541e10d5 | 19 | } |
fabeltranm | 0:abaa541e10d5 | 20 | |
fabeltranm | 0:abaa541e10d5 | 21 | int coord2us(float coord) |
fabeltranm | 0:abaa541e10d5 | 22 | { |
fabeltranm | 0:abaa541e10d5 | 23 | if(0 <= coord <= MAXPOS) |
fabeltranm | 0:abaa541e10d5 | 24 | return int(750+coord*1900/50);// u6 |
fabeltranm | 0:abaa541e10d5 | 25 | return 750; |
fabeltranm | 0:abaa541e10d5 | 26 | |
fabeltranm | 0:abaa541e10d5 | 27 | } |
fabeltranm | 0:abaa541e10d5 | 28 | |
fabeltranm | 0:abaa541e10d5 | 29 | void sstime(uint8_t x, uint8_t y) |
fabeltranm | 0:abaa541e10d5 | 30 | { |
fabeltranm | 0:abaa541e10d5 | 31 | double dx=abs(x-posx_old); |
fabeltranm | 0:abaa541e10d5 | 32 | double dy=abs(y-posy_old); |
fabeltranm | 0:abaa541e10d5 | 33 | double dist= sqrt(dx*dx+dy*dy); |
fabeltranm | 0:abaa541e10d5 | 34 | wait_ms((int)(ss_time*dist)); |
fabeltranm | 0:abaa541e10d5 | 35 | posx_old =x; |
fabeltranm | 0:abaa541e10d5 | 36 | posy_old=y; |
fabeltranm | 0:abaa541e10d5 | 37 | |
fabeltranm | 0:abaa541e10d5 | 38 | } |
fabeltranm | 0:abaa541e10d5 | 39 | |
fabeltranm | 0:abaa541e10d5 | 40 | void draw(){ |
fabeltranm | 0:abaa541e10d5 | 41 | myServoZ.pulsewidth_us(POSDRAW); |
fabeltranm | 0:abaa541e10d5 | 42 | wait_ms(ss_time*2); |
fabeltranm | 0:abaa541e10d5 | 43 | } |
fabeltranm | 0:abaa541e10d5 | 44 | |
fabeltranm | 0:abaa541e10d5 | 45 | void nodraw(){ |
fabeltranm | 0:abaa541e10d5 | 46 | myServoZ.pulsewidth_us(MAXPOS); |
fabeltranm | 0:abaa541e10d5 | 47 | wait_ms(ss_time*2); |
fabeltranm | 0:abaa541e10d5 | 48 | } |
fabeltranm | 0:abaa541e10d5 | 49 | |
fabeltranm | 0:abaa541e10d5 | 50 | |
fabeltranm | 0:abaa541e10d5 | 51 | void vertex2d(uint8_t x, uint8_t y){ |
fabeltranm | 0:abaa541e10d5 | 52 | |
fabeltranm | 0:abaa541e10d5 | 53 | int pulseX = coord2us(x); |
fabeltranm | 0:abaa541e10d5 | 54 | int pulseY = coord2us(y); |
fabeltranm | 0:abaa541e10d5 | 55 | |
fabeltranm | 0:abaa541e10d5 | 56 | myServoX.pulsewidth_us(pulseX); |
fabeltranm | 0:abaa541e10d5 | 57 | myServoY.pulsewidth_us(pulseY); |
fabeltranm | 0:abaa541e10d5 | 58 | |
fabeltranm | 0:abaa541e10d5 | 59 | sstime(x,y); |
fabeltranm | 0:abaa541e10d5 | 60 | |
fabeltranm | 0:abaa541e10d5 | 61 | } |
fabeltranm | 0:abaa541e10d5 | 62 | |
fabeltranm | 0:abaa541e10d5 | 63 | void initdraw(float x, float y){ |
fabeltranm | 0:abaa541e10d5 | 64 | vertex2d (x,y); |
fabeltranm | 0:abaa541e10d5 | 65 | draw(); |
fabeltranm | 0:abaa541e10d5 | 66 | } |
fabeltranm | 0:abaa541e10d5 | 67 | |
fabeltranm | 0:abaa541e10d5 | 68 | void home(){ |
fabeltranm | 0:abaa541e10d5 | 69 | nodraw(); |
fabeltranm | 0:abaa541e10d5 | 70 | vertex2d(0 ,0); |
fabeltranm | 0:abaa541e10d5 | 71 | } |
fabeltranm | 0:abaa541e10d5 | 72 | |
fabeltranm | 0:abaa541e10d5 | 73 | |
fabeltranm | 0:abaa541e10d5 | 74 | |
fabeltranm | 0:abaa541e10d5 | 75 | void init_servo() |
fabeltranm | 0:abaa541e10d5 | 76 | { |
fabeltranm | 0:abaa541e10d5 | 77 | myServoX.period_ms(20); |
fabeltranm | 0:abaa541e10d5 | 78 | myServoY.period_ms(20); |
fabeltranm | 0:abaa541e10d5 | 79 | myServoZ.period_ms(20); |
fabeltranm | 0:abaa541e10d5 | 80 | |
fabeltranm | 0:abaa541e10d5 | 81 | |
fabeltranm | 0:abaa541e10d5 | 82 | } |