Hiromasa Oku / Mbed 2 deprecated linearMirrorMotion1017

this version 10/17

Dependencies:   mbed

Fork of linearMirrorMotion by Alvaro Cassinelli

main.cpp@20:8475768fc2f7, 2013-05-31 (annotated)

Committer:
hiromasaoku
Date:
Fri May 31 06:32:07 2013 +0000
Revision:
20:8475768fc2f7
Parent:
19:8e9fe7d25b9c 
for sharing

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:4e12dea53fbe 1 #include "mbed.h"
hiromasaoku 19:8e9fe7d25b9c 2 #include <string>
hiromasaoku 16:6dd2e60bc5bc 3 #include <vector>
hiromasaoku 16:6dd2e60bc5bc 4 #include "renderclass.h"
mbedalvaro 1:daf6b4939120 5 #include "laserProjectorHardware.h"
hiromasaoku 7:64b313c58420 6
hiromasaoku 17:dce982e0a383 7 render myRender;
hiromasaoku 17:dce982e0a383 8
hiromasaoku 19:8e9fe7d25b9c 9 InterruptIn clockEncoderPin(p14); //blue
hiromasaoku 19:8e9fe7d25b9c 10 DigitalIn directionPin(p15); //green
mbedalvaro 0:4e12dea53fbe 11
mbedalvaro 0:4e12dea53fbe 12 void processSerial();
hiromasaoku 20:8475768fc2f7 13 Timer timer_v; // for shearing //for send the speed on the serial port every 30 ms:
hiromasaoku 4:e00e709d7173 14 LocalFileSystem local("local");
hiromasaoku 5:e02cd57242c7 15 //Serial pc(USBTX, USBRX);
mbedalvaro 0:4e12dea53fbe 16
hiromasaoku 10:a3dd8ec4be60 17 unsigned int X, Y, T;
hiromasaoku 5:e02cd57242c7 18 unsigned int beforeX , beforeY;
hiromasaoku 4:e00e709d7173 19 int startX = CENTER_AD_MIRROR_X;
hiromasaoku 4:e00e709d7173 20 int startY = CENTER_AD_MIRROR_Y;
hiromasaoku 4:e00e709d7173 21
hiromasaoku 6:a82917b3b1aa 22 float sint=0, cost=1;
hiromasaoku 17:dce982e0a383 23
hiromasaoku 10:a3dd8ec4be60 24 float vx = 0, vy=0;
hiromasaoku 14:314b86828ed2 25 float theta=0, dt_betWords=50000, st=1800;
hiromasaoku 10:a3dd8ec4be60 26 unsigned int dt=500, ticktime=600;
hiromasaoku 4:e00e709d7173 27
mbedalvaro 0:4e12dea53fbe 28 bool newPositionReady=false;
mbedalvaro 0:4e12dea53fbe 29 unsigned int counter=0;
hiromasaoku 5:e02cd57242c7 30 vector<char> inputletters;
mbedalvaro 0:4e12dea53fbe 31
hiromasaoku 6:a82917b3b1aa 32 bool start=false;
hiromasaoku 6:a82917b3b1aa 33
hiromasaoku 12:d945fb6d4988 34
hiromasaoku 16:6dd2e60bc5bc 35 //renderclass----------------------------------------------------------
hiromasaoku 12:d945fb6d4988 36
hiromasaoku 16:6dd2e60bc5bc 37 vector<letter> alphabet; // letter library
hiromasaoku 16:6dd2e60bc5bc 38 vector<letter> myText;
hiromasaoku 12:d945fb6d4988 39
hiromasaoku 19:8e9fe7d25b9c 40 /*
hiromasaoku 19:8e9fe7d25b9c 41 string textString="H";
hiromasaoku 16:6dd2e60bc5bc 42
hiromasaoku 19:8e9fe7d25b9c 43 void createTextPoints(string& _str) {
hiromasaoku 19:8e9fe7d25b9c 44 myText.clear();
hiromasaoku 19:8e9fe7d25b9c 45 for (int i=0; i<_str.length(); i++) {
hiromasaoku 19:8e9fe7d25b9c 46 myText.push_back(alphabet[(int)_str[i]-'a']);
hiromasaoku 19:8e9fe7d25b9c 47 }
hiromasaoku 19:8e9fe7d25b9c 48 }
hiromasaoku 19:8e9fe7d25b9c 49 */
hiromasaoku 12:d945fb6d4988 50
hiromasaoku 16:6dd2e60bc5bc 51 ////for culculate rotary velocity --------------------------------------------------------
hiromasaoku 4:e00e709d7173 52
hiromasaoku 20:8475768fc2f7 53 volatile float angleIncrement = 2.0*PI / 1024; // when in Sign/Magnitude mode
hiromasaoku 19:8e9fe7d25b9c 54 float radious = 700, attachSecond = 10000;
hiromasaoku 4:e00e709d7173 55
hiromasaoku 16:6dd2e60bc5bc 56 // a ticker function to compute the speed periodically-------------------------------------------------------------
hiromasaoku 10:a3dd8ec4be60 57 #define PERIODIC_COMPUTE 10000 // in us
hiromasaoku 10:a3dd8ec4be60 58 volatile float angularSpeed = 0;
hiromasaoku 10:a3dd8ec4be60 59 volatile float angle=0, oldAngle=0;
hiromasaoku 10:a3dd8ec4be60 60 Ticker speedTimerCompute;
hiromasaoku 11:8a0fecc86705 61 Ticker superEncoder;
hiromasaoku 5:e02cd57242c7 62
hiromasaoku 10:a3dd8ec4be60 63 // the external interrupt routine:
hiromasaoku 17:dce982e0a383 64 void encoderClock()
hiromasaoku 17:dce982e0a383 65 {
hiromasaoku 17:dce982e0a383 66 if (directionPin) angle += angleIncrement ;
hiromasaoku 17:dce982e0a383 67 else angle -= angleIncrement;
hiromasaoku 7:64b313c58420 68 }
hiromasaoku 7:64b313c58420 69
hiromasaoku 17:dce982e0a383 70 void computeSpeed()
hiromasaoku 17:dce982e0a383 71 {
hiromasaoku 10:a3dd8ec4be60 72 // We know exactly how much time passed since we last computed the speed, this is PERIODIC_COMPUTE in microseconds
hiromasaoku 20:8475768fc2f7 73 float oldspeed = angularSpeed;
hiromasaoku 20:8475768fc2f7 74 angularSpeed = ( 1000000.0 * (float)(angle-oldAngle) / (float)(PERIODIC_COMPUTE) + oldspeed )/ 2.0; // in rad/sec
hiromasaoku 10:a3dd8ec4be60 75 oldAngle=angle;
hiromasaoku 19:8e9fe7d25b9c 76 myRender.updateSpeed(angularSpeed,angle);
hiromasaoku 20:8475768fc2f7 77 void processSerial();
hiromasaoku 10:a3dd8ec4be60 78 }
hiromasaoku 17:dce982e0a383 79
hiromasaoku 10:a3dd8ec4be60 80
hiromasaoku 17:dce982e0a383 81 int main()
hiromasaoku 17:dce982e0a383 82 {
hiromasaoku 10:a3dd8ec4be60 83 //read from TextFileLibrary ------------------------------------------------------
hiromasaoku 9:4db47b8eb750 84 FILE *fp = fopen("/local/text.txt", "r");
hiromasaoku 5:e02cd57242c7 85 if(!fp) {
hiromasaoku 5:e02cd57242c7 86 IO.setGreenPower(1);
hiromasaoku 5:e02cd57242c7 87 exit(1);
hiromasaoku 17:dce982e0a383 88 }
hiromasaoku 17:dce982e0a383 89
hiromasaoku 4:e00e709d7173 90 int letternum;
hiromasaoku 4:e00e709d7173 91 fscanf(fp, "%d", &letternum);
hiromasaoku 5:e02cd57242c7 92 for(int i=0; i<letternum; i++) {
hiromasaoku 5:e02cd57242c7 93 letter bufl;
hiromasaoku 4:e00e709d7173 94 fscanf(fp, "%d", &bufl.pointnum);
hiromasaoku 5:e02cd57242c7 95 for(int j=0; j<bufl.pointnum; j++) {
hiromasaoku 12:d945fb6d4988 96 point2dl bufp;
hiromasaoku 4:e00e709d7173 97 fscanf(fp, "%d", &bufp.x);
hiromasaoku 4:e00e709d7173 98 fscanf(fp, "%d", &bufp.y);
hiromasaoku 9:4db47b8eb750 99 fscanf(fp, "%d", &bufp.laserSwitch);
hiromasaoku 4:e00e709d7173 100 bufl.letpoints.push_back(bufp);
hiromasaoku 4:e00e709d7173 101 }
hiromasaoku 16:6dd2e60bc5bc 102 alphabet.push_back(bufl);
hiromasaoku 4:e00e709d7173 103 }
hiromasaoku 5:e02cd57242c7 104
hiromasaoku 5:e02cd57242c7 105
mbedalvaro 0:4e12dea53fbe 106 // SETUP: --------------------------------------------------------------------------------------------
mbedalvaro 0:4e12dea53fbe 107 IO.init(); // note: serial speed can be changed by checking in the hardwareIO.cpp initialization
hiromasaoku 4:e00e709d7173 108
hiromasaoku 10:a3dd8ec4be60 109 // initialize the angle (arbitrary origin):
hiromasaoku 10:a3dd8ec4be60 110 oldAngle=angle=0;
hiromasaoku 17:dce982e0a383 111
hiromasaoku 16:6dd2e60bc5bc 112 // Attach the external interrupt routine----------------------------------------------------------------------
hiromasaoku 20:8475768fc2f7 113 superEncoder.attach_us(&encoderClock, 111);
hiromasaoku 20:8475768fc2f7 114 //clockEncoderPin.rise(&encoderClock);
hiromasaoku 20:8475768fc2f7 115 //clockEncoderPin.fall(&encoderClock);
hiromasaoku 17:dce982e0a383 116
hiromasaoku 16:6dd2e60bc5bc 117 //using renderclass.cpp ----------------------------------------------------------
hiromasaoku 19:8e9fe7d25b9c 118 //createTextPoints(textString);
hiromasaoku 16:6dd2e60bc5bc 119 myRender.setRender(&myText);
hiromasaoku 16:6dd2e60bc5bc 120 myRender.startRender();
hiromasaoku 17:dce982e0a383 121
hiromasaoku 10:a3dd8ec4be60 122 // Attach the periodic computing function:
hiromasaoku 17:dce982e0a383 123 speedTimerCompute.attach_us(&computeSpeed, PERIODIC_COMPUTE);
hiromasaoku 17:dce982e0a383 124
hiromasaoku 16:6dd2e60bc5bc 125 // Set displaying laser powers--------------------------------------------------------------------------
mbedalvaro 0:4e12dea53fbe 126 IO.setRedPower(0);
hiromasaoku 9:4db47b8eb750 127 IO.setGreenPower(0);
mbedalvaro 0:4e12dea53fbe 128 wait_ms(100);
hiromasaoku 17:dce982e0a383 129
hiromasaoku 17:dce982e0a383 130
hiromasaoku 10:a3dd8ec4be60 131 timer_v.start();
mbedalvaro 0:4e12dea53fbe 132 // MAIN LOOP: --------------------------------------------------------------------------------------------
mbedalvaro 0:4e12dea53fbe 133 while(1) {
hiromasaoku 17:dce982e0a383 134 if (pc.readable()>0) processSerial();
mbedalvaro 0:4e12dea53fbe 135 }
mbedalvaro 0:4e12dea53fbe 136 }
mbedalvaro 0:4e12dea53fbe 137
mbedalvaro 0:4e12dea53fbe 138 // --------------------------------------------------------------------------------------------
hiromasaoku 4:e00e709d7173 139 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
hiromasaoku 17:dce982e0a383 140 char stringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int...
hiromasaoku 17:dce982e0a383 141 int indexStringData=0;//position of the byte in the string
mbedalvaro 0:4e12dea53fbe 142
hiromasaoku 17:dce982e0a383 143 void processSerial() {
hiromasaoku 17:dce982e0a383 144 start=true;
hiromasaoku 17:dce982e0a383 145 while(pc.readable()>0) {
hiromasaoku 4:e00e709d7173 146
hiromasaoku 17:dce982e0a383 147 char val =pc.getc();
hiromasaoku 4:e00e709d7173 148
hiromasaoku 17:dce982e0a383 149 // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
hiromasaoku 17:dce982e0a383 150 if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
hiromasaoku 17:dce982e0a383 151 stringData[indexStringData] = val;
hiromasaoku 17:dce982e0a383 152 indexStringData++;
hiromasaoku 17:dce982e0a383 153 } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
hiromasaoku 19:8e9fe7d25b9c 154 myText.push_back(alphabet[val - 'a']);
hiromasaoku 17:dce982e0a383 155 //inputletters.push_back(val);
hiromasaoku 17:dce982e0a383 156 }
hiromasaoku 5:e02cd57242c7 157
hiromasaoku 19:8e9fe7d25b9c 158 else if (val == '/') {
hiromasaoku 19:8e9fe7d25b9c 159 myRender.stopRender();
hiromasaoku 19:8e9fe7d25b9c 160 myRender.setRender(&myText);
hiromasaoku 19:8e9fe7d25b9c 161 myRender.startRender();
hiromasaoku 19:8e9fe7d25b9c 162 } else if (val == '.') {
hiromasaoku 19:8e9fe7d25b9c 163 myRender.stopRender();
hiromasaoku 17:dce982e0a383 164 myText.clear();
hiromasaoku 19:8e9fe7d25b9c 165 myRender.setRender(&myText);
hiromasaoku 17:dce982e0a383 166 //inputletters.clear();
hiromasaoku 17:dce982e0a383 167 }
mbedalvaro 0:4e12dea53fbe 168
hiromasaoku 17:dce982e0a383 169 else if (val == 'X') {
hiromasaoku 17:dce982e0a383 170 beforeX = X;
hiromasaoku 17:dce982e0a383 171 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 172 X = atoi(stringData);
hiromasaoku 17:dce982e0a383 173 indexStringData=0;
hiromasaoku 17:dce982e0a383 174 vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
hiromasaoku 17:dce982e0a383 175 }
hiromasaoku 4:e00e709d7173 176
hiromasaoku 17:dce982e0a383 177 else if (val == 'Y') {
hiromasaoku 17:dce982e0a383 178 beforeY = Y;
hiromasaoku 17:dce982e0a383 179 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 180 Y = atoi(stringData);
hiromasaoku 17:dce982e0a383 181 indexStringData=0;
hiromasaoku 17:dce982e0a383 182 //timer_v.stop();
hiromasaoku 17:dce982e0a383 183 //newSpeedReady = true;
hiromasaoku 17:dce982e0a383 184 //if( (Y-beforeY) > 5){
hiromasaoku 17:dce982e0a383 185 vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
hiromasaoku 18:6f86abfae754 186
hiromasaoku 18:6f86abfae754 187 myRender.updateSpeed(vx, vy);
hiromasaoku 18:6f86abfae754 188
hiromasaoku 18:6f86abfae754 189
hiromasaoku 17:dce982e0a383 190 }
mbedalvaro 2:0548c7bf9fba 191
hiromasaoku 17:dce982e0a383 192 else if (val == 'D') {
hiromasaoku 17:dce982e0a383 193 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 194 dt = atoi(stringData);
hiromasaoku 17:dce982e0a383 195 indexStringData=0;
hiromasaoku 17:dce982e0a383 196 //makeBuffer();
hiromasaoku 17:dce982e0a383 197 } else if (val == 'B') {
hiromasaoku 17:dce982e0a383 198 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 199 dt_betWords = atoi(stringData);
hiromasaoku 17:dce982e0a383 200 indexStringData=0;
hiromasaoku 17:dce982e0a383 201 //makeBuffer();
hiromasaoku 17:dce982e0a383 202 } else if (val == 'S') {
hiromasaoku 17:dce982e0a383 203 stringData[indexStringData] = 0;
hiromasaoku 20:8475768fc2f7 204 myRender.shearingSwitch = 1 - myRender.shearingSwitch;
hiromasaoku 20:8475768fc2f7 205 pc.printf("shearingSwitch : %d \n" , myRender.shearingSwitch);
hiromasaoku 17:dce982e0a383 206 indexStringData=0;
hiromasaoku 17:dce982e0a383 207 //makeBuffer();
hiromasaoku 17:dce982e0a383 208 } else if (val == 'R') {
hiromasaoku 17:dce982e0a383 209 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 210 radious = atoi(stringData);
hiromasaoku 17:dce982e0a383 211 indexStringData=0;
hiromasaoku 17:dce982e0a383 212 //makeBuffer();
hiromasaoku 17:dce982e0a383 213 } else if (val == 'T') {
hiromasaoku 17:dce982e0a383 214 stringData[indexStringData] = 0;
hiromasaoku 17:dce982e0a383 215 attachSecond = atoi(stringData);
hiromasaoku 20:8475768fc2f7 216 pc.printf("attachSecond : %d \n" , attachSecond);
hiromasaoku 17:dce982e0a383 217 indexStringData=0;
hiromasaoku 17:dce982e0a383 218 //makeBuffer();
hiromasaoku 17:dce982e0a383 219 }
hiromasaoku 17:dce982e0a383 220 // X value?
hiromasaoku 17:dce982e0a383 221 /*else if (val=='x') {
hiromasaoku 17:dce982e0a383 222 stringData[indexStringData] = 0 ;
hiromasaoku 17:dce982e0a383 223 omegaX=atoi(stringData);
hiromasaoku 17:dce982e0a383 224 indexStringData=0;
hiromasaoku 17:dce982e0a383 225 //newPositionReady=true;
hiromasaoku 17:dce982e0a383 226 }
hiromasaoku 17:dce982e0a383 227 // Y value?
hiromasaoku 17:dce982e0a383 228 else if (val=='y') {
hiromasaoku 17:dce982e0a383 229 stringData[indexStringData] = 0 ;
hiromasaoku 17:dce982e0a383 230 omegaY=atoi(stringData);
hiromasaoku 17:dce982e0a383 231 indexStringData=0;
hiromasaoku 17:dce982e0a383 232 makeBuffer();
hiromasaoku 17:dce982e0a383 233 newPositionReady=true;
hiromasaoku 17:dce982e0a383 234 }
hiromasaoku 17:dce982e0a383 235
hiromasaoku 17:dce982e0a383 236 else if (val=='g') {
hiromasaoku 17:dce982e0a383 237 stringData[indexStringData] = 0 ;
hiromasaoku 17:dce982e0a383 238 int power=atoi(stringData);
hiromasaoku 17:dce982e0a383 239 indexStringData=0;
hiromasaoku 17:dce982e0a383 240 IO.setGreenPower(power);
hiromasaoku 17:dce982e0a383 241 } else if (val=='r') {
hiromasaoku 17:dce982e0a383 242 stringData[indexStringData] = 0 ;
hiromasaoku 17:dce982e0a383 243 int power=atoi(stringData);
hiromasaoku 17:dce982e0a383 244 indexStringData=0;
hiromasaoku 17:dce982e0a383 245 IO.setRedPower(power);
hiromasaoku 17:dce982e0a383 246 } else if (val=='c') {
hiromasaoku 17:dce982e0a383 247 stringData[indexStringData] = 0 ;
hiromasaoku 17:dce982e0a383 248 int power=atoi(stringData);
hiromasaoku 17:dce982e0a383 249 indexStringData=0;
hiromasaoku 17:dce982e0a383 250 IO.setRGBPower(power);
hiromasaoku 17:dce982e0a383 251 }
hiromasaoku 17:dce982e0a383 252 */
hiromasaoku 17:dce982e0a383 253
hiromasaoku 10:a3dd8ec4be60 254 }
hiromasaoku 17:dce982e0a383 255 }