Diff: main.cpp

Revision:

16:6dd2e60bc5bc

Parent:

15:1d931a305464

Child:

17:dce982e0a383

--- a/main.cpp	Mon Apr 08 03:13:15 2013 +0000
+++ b/main.cpp	Mon May 20 08:25:22 2013 +0000
@@ -1,13 +1,15 @@
 #include "mbed.h"
+#include <vector>
+#include "renderclass.h"
 #include "laserProjectorHardware.h"
-#include <vector>
 #define PI 3.141592
 
 InterruptIn clockEncoderPin(p14);
 DigitalIn directionPin(p15);
 
 void processSerial();
-Timer timer_v;
+Timer timer_v;          // for shearing 
+Timer timer;            //for send the speed on the serial port every 30 ms:
 LocalFileSystem local("local");
 //Serial pc(USBTX, USBRX);
 
@@ -28,44 +30,20 @@
 
 bool start=false;
 
-struct point2dl {
-    int x,y;
-    int laserSwitch;   // laser {1: on 0:off} until next step
-};
 
-point2dl shearing(point2dl dataBefore, float velocity, float theta){
-    point2dl dataAfter;
-    dataAfter.x = dataBefore.x + velocity * cos(theta) * timer_v.read_us()/st/1000;   //st is a parameter for ajustment
-    dataAfter.y = dataBefore.y + velocity * sin(theta) * timer_v.read_us()/st/1000; 
-    dataAfter.laserSwitch = dataBefore.laserSwitch;
-    
-    return dataAfter;
-}
+//renderclass----------------------------------------------------------
 
-point2dl rotation(point2dl dataBefore, float theta){
-    sint = sin(theta);
-    cost = cos(theta);
-    point2dl dataAfter;
-    dataAfter.x = sint*dataBefore.x + cost*dataBefore.y;
-    dataAfter.y = -cost*dataBefore.x + sint*dataBefore.y;
-    dataAfter.laserSwitch = dataBefore.laserSwitch;
+vector<letter> alphabet;   // letter library
+vector<letter> myText;
 
-    return dataAfter;
-}
+
 
-struct letter {
-    int pointnum;
-    vector<point2dl> letpoints;
-};
-
-vector<letter> libletter;   // letter library
-
-////for culculate rotary velocit800000000y --------------------------------------------------------
+////for culculate rotary velocity --------------------------------------------------------
 
 volatile float angleIncrement = 2.0*PI / 128; // when in Sign/Magnitude mode
 float radious = 700, attachSecond = 500;
 
-// a ticker function to compute the speed periodically:
+// a ticker function to compute the speed periodically-------------------------------------------------------------
 #define PERIODIC_COMPUTE 10000 // in us
 volatile float angularSpeed = 0;
 volatile float angle=0, oldAngle=0;
@@ -83,7 +61,6 @@
     oldAngle=angle;
 }
    
-Timer timer;
 
 int main(){
     //read from TextFileLibrary ------------------------------------------------------
@@ -105,7 +82,7 @@
             fscanf(fp, "%d", &bufp.laserSwitch);
             bufl.letpoints.push_back(bufp);
         }
-        libletter.push_back(bufl);
+        alphabet.push_back(bufl);
     }
 
 
@@ -115,29 +92,30 @@
     // initialize the angle (arbitrary origin):
     oldAngle=angle=0;
   
-    // Attach the external interrupt routine:
-    //clockEncoderPin.rise(&encoderClock);
-    //clockEncoderPin.fall(&encoderClock);
+    // Attach the external interrupt routine----------------------------------------------------------------------
     superEncoder.attach_us(&encoderClock, attachSecond);
     timer.reset(); timer.start();
     
+    //using renderclass.cpp ----------------------------------------------------------
+    render myRender;
+    myRender.setRender(&myText);
+    myRender.startRender();
+    
     // Attach the periodic computing function:
     speedTimerCompute.attach_us(&computeSpeed, PERIODIC_COMPUTE); 
  
-    // Set displaying laser powers:
+    // Set displaying laser powers--------------------------------------------------------------------------
     IO.setRedPower(0);
     IO.setGreenPower(0);
     wait_ms(100);
-
-    X = beforeX = CENTER_AD_MIRROR_X;
-    Y = beforeY = CENTER_AD_MIRROR_Y;
+    
+    
     timer_v.start();
     // MAIN LOOP: --------------------------------------------------------------------------------------------
     while(1) {
     if (pc.readable()>0) processSerial();
     
     if(1/*start*/) {
-        
         timer_v.reset();
         wait_us(5000);
         // send the speed on the serial port every 30 ms:
@@ -145,44 +123,6 @@
             pc.printf("Angular Speed = %4.2f\t Cumulative Angle = %4.2f\n" , angularSpeed, angle);
             timer.reset();
         }
-        
-        
-        // drawing ///-----------------------------------------------
-        for(int i=0; i<inputletters.size(); i++) {
-        
-            for(int j=0; j<libletter[inputletters[i]-'a'].letpoints.size(); j++) {
-            
-                if (pc.readable()>0) processSerial();
-                
-                point2dl rotated = rotation(libletter[inputletters[i]-'a'].letpoints[j] ,angle);
-                point2dl sheared = shearing(rotated ,radious*angularSpeed, angle);
-                X = CENTER_AD_MIRROR_X + radious * cost;
-                Y = CENTER_AD_MIRROR_Y + radious * sint;
-                IO.writeOutXY(X + rotated.x,Y + rotated.y );
-                
-                /*
-                int x = -0.8*((libletter[inputletters[i]-'a'].letpoints[j].x ) - radious*angularSpeed*timer_v.read_us()/st/1000); //this ZURE should be modifyed not by dt but Timer.
-                int y = (libletter[inputletters[i]-'a'].letpoints[j].y);
-                IO.writeOutXY(X + radious*cost + sint*x + cost*y,Y + radious*sint - cost*x + sint*y);
-                */
-                
-                wait_us(dt);
-                IO.setRedPower(libletter[inputletters[i]-'a'].letpoints[j].laserSwitch);//on
-            }
-            timer_v.reset();
-            IO.setRedPower(0); //off
-            wait_us(dt_betWords);//sqrtf(vx*vx+vy*vy)*100000);
-
-        }
-        ////////////////
-        IO.setRGBPower(1); //off
-        wait_us(10000);
-        start=false;
-        ////////////////////*/
-        }
-        
-        
-
     }
 }
 
@@ -192,9 +132,7 @@
 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...
 int indexStringData=0;//position of the byte in the string
 
-void processSerial()
-{
-
+void processSerial(){
     start=true;
     while(pc.readable()>0) {
 
@@ -205,13 +143,15 @@
             stringData[indexStringData] = val;
             indexStringData++;
         } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
-            inputletters.push_back(val);
+            myText.push_back(alphabet['a'-1]);
+            //inputletters.push_back(val);
         }
 
         /*else if (val == '/') {
             makeBuffer();
         }*/ else if (val == '.') {
-            inputletters.clear();
+            myText.clear();
+            //inputletters.clear();
         }
 
         else if (val == 'X') {