Hiromasa Oku / Mbed 2 deprecated linearMirrorMotion1017

this version 10/17

Dependencies:   mbed

Fork of linearMirrorMotion by Alvaro Cassinelli

renderclass.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
hiromasaoku 16:6dd2e60bc5bc 1 #include "renderclass.h"
hiromasaoku 16:6dd2e60bc5bc 2 #include "mbed.h"
hiromasaoku 16:6dd2e60bc5bc 3 #include "laserProjectorHardware.h"
hiromasaoku 16:6dd2e60bc5bc 4 #include <vector>
hiromasaoku 16:6dd2e60bc5bc 5
hiromasaoku 16:6dd2e60bc5bc 6 Ticker translationTimer;
hiromasaoku 16:6dd2e60bc5bc 7
hiromasaoku 16:6dd2e60bc5bc 8 //for translating -----------------------------------------------------------------
hiromasaoku 16:6dd2e60bc5bc 9
hiromasaoku 18:6f86abfae754 10 inline void render::shearing(point2dl& dataBefore)
hiromasaoku 18:6f86abfae754 11 {
hiromasaoku 20:8475768fc2f7 12 dataBefore.x = dataBefore.x - speed * cos(angle+PI/2)*speedTimer.read_us()/400;
hiromasaoku 20:8475768fc2f7 13 dataBefore.y = dataBefore.y - speed * sin(angle+PI/2)*speedTimer.read_us()/400;
hiromasaoku 16:6dd2e60bc5bc 14 }
hiromasaoku 16:6dd2e60bc5bc 15
hiromasaoku 18:6f86abfae754 16 inline void render::rotation(point2dl& dataBefore)
hiromasaoku 18:6f86abfae754 17 {
hiromasaoku 18:6f86abfae754 18 int x=dataBefore.x;
hiromasaoku 20:8475768fc2f7 19 dataBefore.x = 1800 * cos(angle) + sin(angle)*x - cos(angle)*dataBefore.y;
hiromasaoku 20:8475768fc2f7 20 dataBefore.y = 1800 * sin(angle) - cos(angle)*x - sin(angle)*dataBefore.y;
hiromasaoku 16:6dd2e60bc5bc 21 }
hiromasaoku 16:6dd2e60bc5bc 22 //----------------------------------------------------------------------------------
hiromasaoku 16:6dd2e60bc5bc 23
hiromasaoku 18:6f86abfae754 24 void render::startRender()
hiromasaoku 18:6f86abfae754 25 {
hiromasaoku 20:8475768fc2f7 26 speedTimer.start();
hiromasaoku 19:8e9fe7d25b9c 27 renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
hiromasaoku 19:8e9fe7d25b9c 28 pc.printf("render started!\n");
hiromasaoku 16:6dd2e60bc5bc 29 }
hiromasaoku 16:6dd2e60bc5bc 30
hiromasaoku 18:6f86abfae754 31 void render::stopRender()
hiromasaoku 18:6f86abfae754 32 {
hiromasaoku 16:6dd2e60bc5bc 33 renderTimer.detach();
hiromasaoku 19:8e9fe7d25b9c 34 translated.clear();
hiromasaoku 19:8e9fe7d25b9c 35 currentLetters=0;
hiromasaoku 19:8e9fe7d25b9c 36 currentPoints=0;
hiromasaoku 16:6dd2e60bc5bc 37 }
hiromasaoku 16:6dd2e60bc5bc 38
hiromasaoku 18:6f86abfae754 39 void render::setRender(vector<letter> *p)
hiromasaoku 18:6f86abfae754 40 {
hiromasaoku 16:6dd2e60bc5bc 41 ptext = p;
hiromasaoku 19:8e9fe7d25b9c 42 pc.printf("Size of text to render: %d/n", (*ptext).size() );
hiromasaoku 16:6dd2e60bc5bc 43 //for(int i=0; i!=(*ptext).size(); i++){
hiromasaoku 18:6f86abfae754 44 for(std::vector<letter>::iterator itr = (*ptext).begin(); itr != (*ptext).end(); ++itr) {
hiromasaoku 16:6dd2e60bc5bc 45 translated.push_back(*itr);
hiromasaoku 16:6dd2e60bc5bc 46 } //copy the liblary to the buffer.
hiromasaoku 19:8e9fe7d25b9c 47
hiromasaoku 19:8e9fe7d25b9c 48
hiromasaoku 18:6f86abfae754 49 currentLetters=0;
hiromasaoku 18:6f86abfae754 50 currentPoints=0;
hiromasaoku 20:8475768fc2f7 51 shearingSwitch = 1;
hiromasaoku 20:8475768fc2f7 52
hiromasaoku 16:6dd2e60bc5bc 53 }
hiromasaoku 16:6dd2e60bc5bc 54
hiromasaoku 18:6f86abfae754 55
hiromasaoku 19:8e9fe7d25b9c 56 void render::updateSpeed(float gspeed, float gangle){
hiromasaoku 19:8e9fe7d25b9c 57 speed = gspeed;
hiromasaoku 19:8e9fe7d25b9c 58 angle = gangle;
hiromasaoku 19:8e9fe7d25b9c 59
hiromasaoku 19:8e9fe7d25b9c 60 //speed=sqrt(vx*vx+vy*vy);//*factorSpeed;
hiromasaoku 19:8e9fe7d25b9c 61 //angle=atan2(vy,vx);
hiromasaoku 18:6f86abfae754 62 }
hiromasaoku 20:8475768fc2f7 63
hiromasaoku 20:8475768fc2f7 64 int stopcounter=100;
hiromasaoku 20:8475768fc2f7 65
hiromasaoku 18:6f86abfae754 66 void render::draw()
hiromasaoku 18:6f86abfae754 67 {
hiromasaoku 19:8e9fe7d25b9c 68 if(translated.size()>0){
hiromasaoku 20:8475768fc2f7 69 if(stopcounter == 99) speedTimer.reset();
hiromasaoku 20:8475768fc2f7 70 if(stopcounter==100){
hiromasaoku 20:8475768fc2f7 71
hiromasaoku 18:6f86abfae754 72 point2dl drawPoint=translated[currentLetters].letpoints[currentPoints];
hiromasaoku 18:6f86abfae754 73 transform(drawPoint); // transform it with the current speed and angle
hiromasaoku 19:8e9fe7d25b9c 74 //IO.setRedPower(drawPoint.laserSwitch);
hiromasaoku 20:8475768fc2f7 75 IO.writeOutXY(CENTER_AD_MIRROR_X + (int)drawPoint.x , CENTER_AD_MIRROR_Y + (int)drawPoint.y);
hiromasaoku 19:8e9fe7d25b9c 76
hiromasaoku 19:8e9fe7d25b9c 77
hiromasaoku 19:8e9fe7d25b9c 78 if(currentPoints>0) IO.setRedPower(translated[currentLetters].letpoints[currentPoints-1].laserSwitch);
hiromasaoku 20:8475768fc2f7 79 else IO.setRedPower(0);
hiromasaoku 18:6f86abfae754 80
hiromasaoku 16:6dd2e60bc5bc 81 currentPoints++;
hiromasaoku 20:8475768fc2f7 82 }
hiromasaoku 20:8475768fc2f7 83 else stopcounter++;
hiromasaoku 19:8e9fe7d25b9c 84
hiromasaoku 19:8e9fe7d25b9c 85 if(currentPoints >= translated[currentLetters].letpoints.size() ) {
hiromasaoku 20:8475768fc2f7 86 if(stopcounter == 100) stopcounter = 0;
hiromasaoku 20:8475768fc2f7 87 else if(stopcounter == 0){
hiromasaoku 20:8475768fc2f7 88 renderTimer.detach();
hiromasaoku 20:8475768fc2f7 89 }
hiromasaoku 20:8475768fc2f7 90 //wait_us(RENDER_INTERVAL);
hiromasaoku 20:8475768fc2f7 91 else if(stopcounter == 1){
hiromasaoku 20:8475768fc2f7 92 IO.setRedPower(0);
hiromasaoku 20:8475768fc2f7 93 //wait_us(RENDER_INTERVAL);
hiromasaoku 16:6dd2e60bc5bc 94 currentLetters++;
hiromasaoku 16:6dd2e60bc5bc 95 currentPoints = 0;
hiromasaoku 19:8e9fe7d25b9c 96 renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
hiromasaoku 20:8475768fc2f7 97 speedTimer.reset();
hiromasaoku 20:8475768fc2f7 98 }
hiromasaoku 16:6dd2e60bc5bc 99 }
hiromasaoku 19:8e9fe7d25b9c 100 if(currentLetters >= translated.size()) {
hiromasaoku 16:6dd2e60bc5bc 101 currentLetters = 0;
hiromasaoku 16:6dd2e60bc5bc 102 currentPoints = 0;
hiromasaoku 19:8e9fe7d25b9c 103 renderTimer.detach();
hiromasaoku 20:8475768fc2f7 104 //wait_us(RENDER_INTERVAL);
hiromasaoku 19:8e9fe7d25b9c 105 IO.setRedPower(0);
hiromasaoku 20:8475768fc2f7 106 //wait_us(RENDER_INTERVAL*200);
hiromasaoku 19:8e9fe7d25b9c 107 renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
hiromasaoku 20:8475768fc2f7 108 speedTimer.reset();
hiromasaoku 20:8475768fc2f7 109 stopcounter = -200;
hiromasaoku 19:8e9fe7d25b9c 110 }
hiromasaoku 16:6dd2e60bc5bc 111 }
hiromasaoku 18:6f86abfae754 112 }
hiromasaoku 18:6f86abfae754 113
hiromasaoku 18:6f86abfae754 114 void render::transform(point2dl& mypoint)
hiromasaoku 18:6f86abfae754 115 {
hiromasaoku 18:6f86abfae754 116 rotation(mypoint);
hiromasaoku 20:8475768fc2f7 117 if(shearingSwitch == 1) shearing(mypoint);
hiromasaoku 16:6dd2e60bc5bc 118 }
hiromasaoku 16:6dd2e60bc5bc 119