Diff: draw.cpp

Revision:

0:89b318e49395

diff -r 000000000000 -r 89b318e49395 draw.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/draw.cpp	Sat Mar 17 00:57:56 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