Revision 0:abaa541e10d5, committed 2018-03-07

Comitter:

fabeltranm

Date:

Wed Mar 07 01:00:46 2018 +0000

Commit message:

ejerciocio 2

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/draw.cpp	Wed Mar 07 01:00:46 2018 +0000
@@ -0,0 +1,82 @@
+
+#include "draw.h"
+#include "mbed.h"
+#include "math.h"
+
+
+
+PwmOut myServoX(PB_3);
+PwmOut myServoY(PB_4);
+PwmOut myServoZ(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=100;     // 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(POSDRAW);
+wait_ms(ss_time*2);
+}
+
+void nodraw(){
+myServoZ.pulsewidth_us(MAXPOS);
+wait_ms(ss_time*2);
+}
+
+
+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

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/draw.h	Wed Mar 07 01:00:46 2018 +0000
@@ -0,0 +1,19 @@
+#ifndef DRAW_H   
+#define DRAW_H  
+
+#include "mbed.h"
+
+#define MAXPOS 50       // en milimetros
+#define POSDRAW 10   
+
+
+void init_servo();
+void draw();
+void nodraw();
+void vertex2d(uint8_t x, uint8_t y);
+
+void home();
+void initdraw(float x, float y);
+void put_sstime(uint8_t vtime);
+
+#endif //  DRAW_H 
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 07 01:00:46 2018 +0000
@@ -0,0 +1,44 @@
+#include "mbed.h"
+
+#include "draw.h"
+#define CM_EJECUTAR 0xff
+#define CM_GUARDAR 0xfe
+#define CM_VERTEX2D 0xfd
+#define CM_DRAW 0xfc
+#define CM_NODRAW 0xfb
+#define CM_STOP 0xfa
+#define CM_END 0xf0
+
+
+
+
+Serial command(USBTX, USBRX);
+
+
+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
+    
+}
+void init_serial()
+{
+    command.baud(9600);    
+}
+int main() {
+    init_servo();
+    init_serial();
+    home();
+    char read_cc;
+    while(1)
+    {
+        switch (read_cc) {
+            case  CM_EJECUTAR: ejecutar(); break;
+            case  CM_GUARDAR: guardar(); break;
+            default: command.printf("error de comando");break ;      
+        }
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Wed Mar 07 01:00:46 2018 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/aa5281ff4a02
\ No newline at end of file