Nicolás Camilo Guerrero Otálora
/
Picolo_1_dibuja
codigo incompleto picolo
main.cpp@0:d1c031b9a2c7, 2018-03-13 (annotated)
- Committer:
- nicolas_guerrero
- Date:
- Tue Mar 13 22:58:02 2018 +0000
- Revision:
- 0:d1c031b9a2c7
- Child:
- 1:57436dbe2bf7
codigo incompleto picolo
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nicolas_guerrero | 0:d1c031b9a2c7 | 1 | #include "mbed.h" |
nicolas_guerrero | 0:d1c031b9a2c7 | 2 | #define MEM_SIZE 5000 |
nicolas_guerrero | 0:d1c031b9a2c7 | 3 | #define MEM_TYPE uint8_t |
nicolas_guerrero | 0:d1c031b9a2c7 | 4 | #define MAXPOS 50 // en milimetros |
nicolas_guerrero | 0:d1c031b9a2c7 | 5 | #define SS_TIME 100 // en microsegundos |
nicolas_guerrero | 0:d1c031b9a2c7 | 6 | #define POSDRAW 10 |
nicolas_guerrero | 0:d1c031b9a2c7 | 7 | #define periodo 20 |
nicolas_guerrero | 0:d1c031b9a2c7 | 8 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 9 | MEM_TYPE arreglo2[MEM_SIZE]; |
nicolas_guerrero | 0:d1c031b9a2c7 | 10 | Serial pc(USBTX, USBRX); |
nicolas_guerrero | 0:d1c031b9a2c7 | 11 | PwmOut motor_x(A3), motor_y(A1), motor_z(A0); |
nicolas_guerrero | 0:d1c031b9a2c7 | 12 | int mem_head = 0,i; |
nicolas_guerrero | 0:d1c031b9a2c7 | 13 | int mem_tail = 0; |
nicolas_guerrero | 0:d1c031b9a2c7 | 14 | uint8_t full = 0; |
nicolas_guerrero | 0:d1c031b9a2c7 | 15 | char b; |
nicolas_guerrero | 0:d1c031b9a2c7 | 16 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 17 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 18 | void comando(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 19 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 20 | int coord2us(float coord); |
nicolas_guerrero | 0:d1c031b9a2c7 | 21 | void draw(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 22 | void nodraw(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 23 | void vertex2d(float x, float y); |
nicolas_guerrero | 0:d1c031b9a2c7 | 24 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 25 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 26 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 27 | int main() { |
nicolas_guerrero | 0:d1c031b9a2c7 | 28 | // configuracion de periodo |
nicolas_guerrero | 0:d1c031b9a2c7 | 29 | motor_x.period_ms(periodo); |
nicolas_guerrero | 0:d1c031b9a2c7 | 30 | motor_y.period_ms(periodo); |
nicolas_guerrero | 0:d1c031b9a2c7 | 31 | motor_z.period_ms(periodo); |
nicolas_guerrero | 0:d1c031b9a2c7 | 32 | motor_x.pulsewidth_us(725); |
nicolas_guerrero | 0:d1c031b9a2c7 | 33 | motor_y.pulsewidth_us(725); |
nicolas_guerrero | 0:d1c031b9a2c7 | 34 | motor_z.pulsewidth_us(725); |
nicolas_guerrero | 0:d1c031b9a2c7 | 35 | int posx=0; |
nicolas_guerrero | 0:d1c031b9a2c7 | 36 | int posy=0; |
nicolas_guerrero | 0:d1c031b9a2c7 | 37 | pc.attach(&comando); |
nicolas_guerrero | 0:d1c031b9a2c7 | 38 | while(1) |
nicolas_guerrero | 0:d1c031b9a2c7 | 39 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 40 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 41 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 42 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 43 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 44 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 45 | int coord2us(float coord) |
nicolas_guerrero | 0:d1c031b9a2c7 | 46 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 47 | if(0 <= coord <= MAXPOS) |
nicolas_guerrero | 0:d1c031b9a2c7 | 48 | return int(750+coord*1900/50);// u6 |
nicolas_guerrero | 0:d1c031b9a2c7 | 49 | return 750; |
nicolas_guerrero | 0:d1c031b9a2c7 | 50 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 51 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 52 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 53 | void draw() |
nicolas_guerrero | 0:d1c031b9a2c7 | 54 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 55 | motor_z.pulsewidth_us(POSDRAW); |
nicolas_guerrero | 0:d1c031b9a2c7 | 56 | wait(1); |
nicolas_guerrero | 0:d1c031b9a2c7 | 57 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 58 | void nodraw() |
nicolas_guerrero | 0:d1c031b9a2c7 | 59 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 60 | motor_z.pulsewidth_us(MAXPOS); |
nicolas_guerrero | 0:d1c031b9a2c7 | 61 | wait(1); |
nicolas_guerrero | 0:d1c031b9a2c7 | 62 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 63 | void vertex2d(float x, float y){ |
nicolas_guerrero | 0:d1c031b9a2c7 | 64 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 65 | int pulseX = coord2us(x); |
nicolas_guerrero | 0:d1c031b9a2c7 | 66 | int pulseY = coord2us(y); |
nicolas_guerrero | 0:d1c031b9a2c7 | 67 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 68 | motor_x.pulsewidth_us(pulseX); |
nicolas_guerrero | 0:d1c031b9a2c7 | 69 | motor_y.pulsewidth_us(pulseY); |
nicolas_guerrero | 0:d1c031b9a2c7 | 70 | wait_ms(SS_TIME); |
nicolas_guerrero | 0:d1c031b9a2c7 | 71 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 72 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 73 | void comando () |
nicolas_guerrero | 0:d1c031b9a2c7 | 74 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 75 | //MEM_TYPE caracter; |
nicolas_guerrero | 0:d1c031b9a2c7 | 76 | MEM_TYPE arreglo[4]; |
nicolas_guerrero | 0:d1c031b9a2c7 | 77 | MEM_TYPE caracter; |
nicolas_guerrero | 0:d1c031b9a2c7 | 78 | for (i=0;i<=3;i++) |
nicolas_guerrero | 0:d1c031b9a2c7 | 79 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 80 | arreglo[i]=pc.getc(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 81 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 82 | caracter=arreglo[0]&&arreglo[1]&&arreglo[2]&&arreglo[3]; |
nicolas_guerrero | 0:d1c031b9a2c7 | 83 | switch (caracter) |
nicolas_guerrero | 0:d1c031b9a2c7 | 84 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 85 | case 'F' && 'E' && 'F' && '0' : |
nicolas_guerrero | 0:d1c031b9a2c7 | 86 | pc.printf("entro en ff\n\r"); |
nicolas_guerrero | 0:d1c031b9a2c7 | 87 | //b=pc.getc(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 88 | while(b==!'A') |
nicolas_guerrero | 0:d1c031b9a2c7 | 89 | { |
nicolas_guerrero | 0:d1c031b9a2c7 | 90 | pc.printf("entro while llenar\n\r"); |
nicolas_guerrero | 0:d1c031b9a2c7 | 91 | arreglo2[mem_head]=pc.getc(); |
nicolas_guerrero | 0:d1c031b9a2c7 | 92 | b=arreglo2[mem_head]; |
nicolas_guerrero | 0:d1c031b9a2c7 | 93 | pc.printf("posicion 1 %f",arreglo2[mem_head]); |
nicolas_guerrero | 0:d1c031b9a2c7 | 94 | mem_head++; |
nicolas_guerrero | 0:d1c031b9a2c7 | 95 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 96 | break; |
nicolas_guerrero | 0:d1c031b9a2c7 | 97 | } |
nicolas_guerrero | 0:d1c031b9a2c7 | 98 | |
nicolas_guerrero | 0:d1c031b9a2c7 | 99 | } |