Diff: main.cpp

Revision:

17:dce982e0a383

Parent:

16:6dd2e60bc5bc

Child:

18:6f86abfae754

--- a/main.cpp	Mon May 20 08:25:22 2013 +0000
+++ b/main.cpp	Mon May 20 08:51:07 2013 +0000
@@ -4,11 +4,13 @@
 #include "laserProjectorHardware.h"
 #define PI 3.141592
 
+render myRender;
+
 InterruptIn clockEncoderPin(p14);
 DigitalIn directionPin(p15);
 
 void processSerial();
-Timer timer_v;          // for shearing 
+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);
@@ -19,7 +21,7 @@
 int startY = CENTER_AD_MIRROR_Y;
 
 float sint=0, cost=1;
-          
+
 float vx = 0, vy=0;
 float theta=0, dt_betWords=50000, st=1800;
 unsigned int dt=500, ticktime=600;
@@ -51,25 +53,29 @@
 Ticker superEncoder;
 
 // the external interrupt routine:
-void encoderClock() {
-    if (directionPin) angle += angleIncrement ; else angle -= angleIncrement;
+void encoderClock()
+{
+    if (directionPin) angle += angleIncrement ;
+    else angle -= angleIncrement;
 }
 
-void computeSpeed() {
+void computeSpeed()
+{
     // We know exactly how much time passed since we last computed the speed, this is PERIODIC_COMPUTE in microseconds
     angularSpeed =  1000000.0 * (float)(angle-oldAngle) / (float)(PERIODIC_COMPUTE); // in rad/sec
     oldAngle=angle;
 }
-   
+
 
-int main(){
+int main()
+{
     //read from TextFileLibrary ------------------------------------------------------
     FILE *fp = fopen("/local/text.txt", "r");
     if(!fp) {
         IO.setGreenPower(1);
         exit(1);
-    }   
-    
+    }
+
     int letternum;
     fscanf(fp, "%d", &letternum);
     for(int i=0; i<letternum; i++) {
@@ -91,155 +97,155 @@
 
     // initialize the angle (arbitrary origin):
     oldAngle=angle=0;
-  
+
     // Attach the external interrupt routine----------------------------------------------------------------------
     superEncoder.attach_us(&encoderClock, attachSecond);
-    timer.reset(); timer.start();
-    
+    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); 
- 
+    speedTimerCompute.attach_us(&computeSpeed, PERIODIC_COMPUTE);
+
     // Set displaying laser powers--------------------------------------------------------------------------
     IO.setRedPower(0);
     IO.setGreenPower(0);
     wait_ms(100);
-    
-    
+
+
     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:
-        if (timer.read_ms()>30) {
-            pc.printf("Angular Speed = %4.2f\t Cumulative Angle = %4.2f\n" , angularSpeed, angle);
-            timer.reset();
+        if (pc.readable()>0) processSerial();
+
+        if(1/*start*/) {
+            timer_v.reset();
+            wait_us(5000);
+            // send the speed on the serial port every 30 ms:
+            if (timer.read_ms()>30) {
+                pc.printf("Angular Speed = %4.2f\t Cumulative Angle = %4.2f\n" , angularSpeed, angle);
+                timer.reset();
+            }
         }
     }
 }
 
-
 // --------------------------------------------------------------------------------------------
 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
-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
+    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(){
-    start=true;
-    while(pc.readable()>0) {
+    void processSerial() {
+        start=true;
+        while(pc.readable()>0) {
 
-        char val =pc.getc();
+            char val =pc.getc();
 
-        // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
-        if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
-            stringData[indexStringData] = val;
-            indexStringData++;
-        } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
-            myText.push_back(alphabet['a'-1]);
-            //inputletters.push_back(val);
-        }
+            // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
+            if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
+                stringData[indexStringData] = val;
+                indexStringData++;
+            } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
+                myText.push_back(alphabet['a'-1]);
+                //inputletters.push_back(val);
+            }
 
-        /*else if (val == '/') {
-            makeBuffer();
-        }*/ else if (val == '.') {
-            myText.clear();
-            //inputletters.clear();
-        }
+            /*else if (val == '/') {
+                makeBuffer();
+            }*/ else if (val == '.') {
+                myText.clear();
+                //inputletters.clear();
+            }
 
-        else if (val == 'X') {
-            beforeX = X;
-            stringData[indexStringData] = 0;
-            X = atoi(stringData);
-            indexStringData=0;
-            vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
-        }
+            else if (val == 'X') {
+                beforeX = X;
+                stringData[indexStringData] = 0;
+                X = atoi(stringData);
+                indexStringData=0;
+                vx = ((float)X-(float)beforeX) / (float)timer_v.read_us() *1000;
+            }
 
-        else if (val == 'Y') {
-            beforeY = Y;
-            stringData[indexStringData] = 0;
-            Y = atoi(stringData);
-            indexStringData=0;
-            //timer_v.stop();
-            //newSpeedReady = true;
-            //if( (Y-beforeY) > 5){ 
-            vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
-            //theta=atan2(vy,vx);
-            //sint = -sin(theta);//cos(theta);
-            //cost = -cos(theta);//-sin(theta);  
-            //}
-            //if (cost > 0){
-            //sint = -sint;//cos(thet      
-            //cost = -cost;//-sin(theta);  
-            //}
-        }
+            else if (val == 'Y') {
+                beforeY = Y;
+                stringData[indexStringData] = 0;
+                Y = atoi(stringData);
+                indexStringData=0;
+                //timer_v.stop();
+                //newSpeedReady = true;
+                //if( (Y-beforeY) > 5){
+                vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
+                //theta=atan2(vy,vx);
+                //sint = -sin(theta);//cos(theta);
+                //cost = -cos(theta);//-sin(theta);
+                //}
+                //if (cost > 0){
+                //sint = -sint;//cos(thet
+                //cost = -cost;//-sin(theta);
+                //}
+            }
 
-        else if (val == 'D') {
-            stringData[indexStringData] = 0;
-            dt = atoi(stringData);
-            indexStringData=0;
-            //makeBuffer();
-        } else if (val == 'B') {
-            stringData[indexStringData] = 0;
-            dt_betWords = atoi(stringData);
-            indexStringData=0;
-            //makeBuffer();
-        } else if (val == 'S') {
-            stringData[indexStringData] = 0;
-            st = atoi(stringData);
-            indexStringData=0;
-            //makeBuffer();
-        }else if (val == 'R') {
-            stringData[indexStringData] = 0;
-            radious = atoi(stringData);
-            indexStringData=0;
-            //makeBuffer();
-        }else if (val == 'T') {
-            stringData[indexStringData] = 0;
-            attachSecond = atoi(stringData);
-            indexStringData=0;
-            //makeBuffer();
+            else if (val == 'D') {
+                stringData[indexStringData] = 0;
+                dt = atoi(stringData);
+                indexStringData=0;
+                //makeBuffer();
+            } else if (val == 'B') {
+                stringData[indexStringData] = 0;
+                dt_betWords = atoi(stringData);
+                indexStringData=0;
+                //makeBuffer();
+            } else if (val == 'S') {
+                stringData[indexStringData] = 0;
+                st = atoi(stringData);
+                indexStringData=0;
+                //makeBuffer();
+            } else if (val == 'R') {
+                stringData[indexStringData] = 0;
+                radious = atoi(stringData);
+                indexStringData=0;
+                //makeBuffer();
+            } else if (val == 'T') {
+                stringData[indexStringData] = 0;
+                attachSecond = atoi(stringData);
+                indexStringData=0;
+                //makeBuffer();
+            }
+            // X value?
+            /*else if (val=='x') {
+                stringData[indexStringData] = 0 ;
+                omegaX=atoi(stringData);
+                indexStringData=0;
+                //newPositionReady=true;
+            }
+            // Y value?
+            else if (val=='y') {
+                stringData[indexStringData] = 0 ;
+                omegaY=atoi(stringData);
+                indexStringData=0;
+                makeBuffer();
+                newPositionReady=true;
+            }
+
+            else if (val=='g') {
+                stringData[indexStringData] = 0 ;
+                int power=atoi(stringData);
+                indexStringData=0;
+                IO.setGreenPower(power);
+            } else if (val=='r') {
+                stringData[indexStringData] = 0 ;
+                int power=atoi(stringData);
+                indexStringData=0;
+                IO.setRedPower(power);
+            } else if (val=='c') {
+                stringData[indexStringData] = 0 ;
+                int power=atoi(stringData);
+                indexStringData=0;
+                IO.setRGBPower(power);
+            }
+            */
+
         }
-        // X value?
-        /*else if (val=='x') {
-            stringData[indexStringData] = 0 ;
-            omegaX=atoi(stringData);
-            indexStringData=0;
-            //newPositionReady=true;
-        }
-        // Y value?
-        else if (val=='y') {
-            stringData[indexStringData] = 0 ;
-            omegaY=atoi(stringData);
-            indexStringData=0;
-            makeBuffer();
-            newPositionReady=true;
-        }
-
-        else if (val=='g') {
-            stringData[indexStringData] = 0 ;
-            int power=atoi(stringData);
-            indexStringData=0;
-            IO.setGreenPower(power);
-        } else if (val=='r') {
-            stringData[indexStringData] = 0 ;
-            int power=atoi(stringData);
-            indexStringData=0;
-            IO.setRedPower(power);
-        } else if (val=='c') {
-            stringData[indexStringData] = 0 ;
-            int power=atoi(stringData);
-            indexStringData=0;
-            IO.setRGBPower(power);
-        }
-        */
-
-   }
-}
\ No newline at end of file
+    }
\ No newline at end of file