Revision 20:8475768fc2f7, committed 2013-05-31

Comitter:

hiromasaoku

Date:

Fri May 31 06:32:07 2013 +0000

Parent:

19:8e9fe7d25b9c

Commit message:

for sharing

Changed in this revision

--- a/main.cpp	Fri May 24 06:37:58 2013 +0000
+++ b/main.cpp	Fri May 31 06:32:07 2013 +0000
@@ -10,8 +10,7 @@
 DigitalIn directionPin(p15);    //green
 
 void processSerial();
-Timer timer_v;          // for shearing
-Timer timer;            //for send the speed on the serial port every 30 ms:
+Timer timer_v;          // for shearing        //for send the speed on the serial port every 30 ms:
 LocalFileSystem local("local");
 //Serial pc(USBTX, USBRX);
 
@@ -51,7 +50,7 @@
 
 ////for culculate rotary velocity --------------------------------------------------------
 
-volatile float angleIncrement = 2.0*PI / 360; // when in Sign/Magnitude mode
+volatile float angleIncrement = 2.0*PI / 1024; // when in Sign/Magnitude mode
 float radious = 700, attachSecond = 10000;
 
 // a ticker function to compute the speed periodically-------------------------------------------------------------
@@ -71,9 +70,11 @@
 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
+    float oldspeed = angularSpeed;
+    angularSpeed = ( 1000000.0 * (float)(angle-oldAngle) / (float)(PERIODIC_COMPUTE) + oldspeed )/ 2.0; // in rad/sec
     oldAngle=angle;
     myRender.updateSpeed(angularSpeed,angle);
+    void processSerial();
 }
 
 
@@ -109,9 +110,9 @@
     oldAngle=angle=0;
 
     // Attach the external interrupt routine----------------------------------------------------------------------
-    superEncoder.attach_us(&encoderClock, attachSecond);
-    timer.reset();
-    timer.start();
+    superEncoder.attach_us(&encoderClock, 111);
+    //clockEncoderPin.rise(&encoderClock);
+    //clockEncoderPin.fall(&encoderClock);
 
     //using renderclass.cpp ----------------------------------------------------------
     //createTextPoints(textString);
@@ -131,16 +132,6 @@
     // 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()>300000) {
-                pc.printf("Angular Speed = %4.2f\t Cumulative Angle = %4.2f\n" , angularSpeed, angle);
-                timer.reset();
-            }*/
-        }
     }
 }
 
@@ -210,7 +201,8 @@
                 //makeBuffer();
             } else if (val == 'S') {
                 stringData[indexStringData] = 0;
-                st = atoi(stringData);
+                myRender.shearingSwitch = 1 - myRender.shearingSwitch;
+                pc.printf("shearingSwitch : %d \n" , myRender.shearingSwitch);
                 indexStringData=0;
                 //makeBuffer();
             } else if (val == 'R') {
@@ -221,6 +213,7 @@
             } else if (val == 'T') {
                 stringData[indexStringData] = 0;
                 attachSecond = atoi(stringData);
+                pc.printf("attachSecond : %d \n" , attachSecond);
                 indexStringData=0;
                 //makeBuffer();
             }

--- a/renderclass.cpp	Fri May 24 06:37:58 2013 +0000
+++ b/renderclass.cpp	Fri May 31 06:32:07 2013 +0000
@@ -9,21 +9,21 @@
 
 inline void render::shearing(point2dl& dataBefore)
 {
-    dataBefore.x = dataBefore.x ;//+ speed * cos(angle) * timer_v.read_us()/st/1000;
-    dataBefore.y = dataBefore.y ;//+ speed * sin(angle) * timer_v.read_us()/st/1000;
-
+    dataBefore.x = dataBefore.x - speed * cos(angle+PI/2)*speedTimer.read_us()/400;
+    dataBefore.y = dataBefore.y - speed * sin(angle+PI/2)*speedTimer.read_us()/400;
 }
 
 inline void render::rotation(point2dl& dataBefore)
 {
     int x=dataBefore.x;
-    dataBefore.x = cos(angle)*x - sin(angle)*dataBefore.y;
-    dataBefore.y = sin(angle)*x + cos(angle)*dataBefore.y;
+    dataBefore.x = 1800 * cos(angle) + sin(angle)*x - cos(angle)*dataBefore.y;
+    dataBefore.y = 1800 * sin(angle) - cos(angle)*x - sin(angle)*dataBefore.y;
 }
 //----------------------------------------------------------------------------------
 
 void render::startRender()
 {
+    speedTimer.start();
     renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
     pc.printf("render started!\n");
 }
@@ -43,12 +43,13 @@
     //for(int i=0; i!=(*ptext).size(); i++){
     for(std::vector<letter>::iterator itr = (*ptext).begin(); itr != (*ptext).end(); ++itr) {
         translated.push_back(*itr);
-         pc.printf("moving...." );
     }                                            //copy the liblary to the buffer.
     
     
     currentLetters=0;
     currentPoints=0;
+    shearingSwitch = 1;
+
 }
 
 
@@ -59,40 +60,53 @@
     //speed=sqrt(vx*vx+vy*vy);//*factorSpeed;
     //angle=atan2(vy,vx);
 }
-float t=0;
+
+int stopcounter=100;
+
 void render::draw()
 {
     if(translated.size()>0){
+    if(stopcounter == 99) speedTimer.reset();
+    if(stopcounter==100){
+    
     point2dl drawPoint=translated[currentLetters].letpoints[currentPoints];
     transform(drawPoint); // transform it with the current speed and angle
-    pc.printf("%d, %d, %d \n" , (int)drawPoint.x, (int)drawPoint.y, (int)drawPoint.laserSwitch);
     //IO.setRedPower(drawPoint.laserSwitch);
-    IO.writeOutXY(CENTER_AD_MIRROR_X+ 4*(int)drawPoint.x , CENTER_AD_MIRROR_Y - 4*(int)drawPoint.y);
+    IO.writeOutXY(CENTER_AD_MIRROR_X + (int)drawPoint.x , CENTER_AD_MIRROR_Y + (int)drawPoint.y);
     
     
     if(currentPoints>0) IO.setRedPower(translated[currentLetters].letpoints[currentPoints-1].laserSwitch);
-    else                IO.setRedPower(0);              ///laserswitch txt library needs to rewrite..........?\(>o<)/?
+    else                IO.setRedPower(0);             
 
     currentPoints++;
+    }
+    else stopcounter++;
     
     if(currentPoints >= translated[currentLetters].letpoints.size() ) {
+        if(stopcounter == 100) stopcounter = 0;
+        else if(stopcounter == 0){
+        renderTimer.detach();
+        }
+        //wait_us(RENDER_INTERVAL);
+        else if(stopcounter == 1){
+        IO.setRedPower(0);
+        //wait_us(RENDER_INTERVAL);
         currentLetters++;
         currentPoints = 0;
-        
-        renderTimer.detach();
-        wait_us(RENDER_INTERVAL);
-        IO.setRedPower(0);
-        wait_us(RENDER_INTERVAL*40);
         renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
+        speedTimer.reset();
+        }
     }
     if(currentLetters >= translated.size()) {
         currentLetters = 0;
         currentPoints = 0;
         renderTimer.detach();
-        wait_us(RENDER_INTERVAL);
+        //wait_us(RENDER_INTERVAL);
         IO.setRedPower(0);
-        wait_us(RENDER_INTERVAL*20);
+        //wait_us(RENDER_INTERVAL*200);
         renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
+        speedTimer.reset();
+        stopcounter = -200;
     }
     }
 }
@@ -100,26 +114,6 @@
 void render::transform(point2dl& mypoint)
 {
     rotation(mypoint);
-    shearing(mypoint);
+    if(shearingSwitch == 1) shearing(mypoint);
 }
 
-/*
-void render::translating(float speed, float angle)  //DO when get the speed and angle data.
-{
-    for (int i = 0; i > 10;  i++) {
-        int j=0;
-        if(currentPoints + j > (*ptext)[currentLetters].letpoints.size()) {
-            currentPoints = 0;
-            currentLetters++;
-            j=0;
-        }
-        if(currentLetters > (*ptext).size()) break;
-
-        point2dl bufferRotate = rotation((*ptext)[currentLetters].letpoints[currentPoints]);
-        point2dl bufferShear = shearing(bufferRotate);
-
-        translated[currentLetters].letpoints[currentPoints] = bufferShear;
-
-        j++;
-    }
-}*/
\ No newline at end of file

--- a/renderclass.h	Fri May 24 06:37:58 2013 +0000
+++ b/renderclass.h	Fri May 31 06:32:07 2013 +0000
@@ -2,7 +2,7 @@
 #include <vector>
 #define PI 3.14159
 
-#define RENDER_INTERVAL 1000// in microseconds
+#define RENDER_INTERVAL 700// in microseconds
 
 struct point2dl {
     int x,y;
@@ -25,6 +25,8 @@
     void shearing(point2dl& dataBefore);
     void rotation(point2dl& dataBefore);
     void updateSpeed(float vx, float vy);
+
+    int shearingSwitch;
     
     private:
     vector<letter> *ptext;
@@ -34,7 +36,9 @@
     point2dl drawPoint;
     
     Ticker renderTimer;
+    Timer   speedTimer;
     
     float speed;
     float angle;
+    
 };
\ No newline at end of file