Nicolás Camilo Guerrero Otálora
/
codigopicolo2
CODIGO PICOLO
/media/uploads/nicolas_guerrero/definimos_variables_globales.pdf
main.cpp@1:629f060522ce, 2018-04-24 (annotated)
- Committer:
- nicolas_guerrero
- Date:
- Tue Apr 24 18:26:09 2018 +0000
- Revision:
- 1:629f060522ce
- Parent:
- 0:3a659d0cc027
- Child:
- 2:2e94085cdc90
segundo corte
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nicolas_guerrero | 0:3a659d0cc027 | 1 | //lO UNICO DIFERENTE AL CODIGO ES PwmOut motor_x(A3), motor_y(A1), motor_z(A0); |
nicolas_guerrero | 0:3a659d0cc027 | 2 | #include "mbed.h" |
nicolas_guerrero | 1:629f060522ce | 3 | #include "stepmotor.h" |
nicolas_guerrero | 1:629f060522ce | 4 | |
nicolas_guerrero | 0:3a659d0cc027 | 5 | #define MEM_SIZE 5000 |
nicolas_guerrero | 0:3a659d0cc027 | 6 | #define MEM_TYPE uint32_t |
nicolas_guerrero | 0:3a659d0cc027 | 7 | #define MAXPOS 50 // en milimetros |
nicolas_guerrero | 0:3a659d0cc027 | 8 | #define SS_TIME 100 // en microsegundos |
nicolas_guerrero | 0:3a659d0cc027 | 9 | #define POSDRAW 10 |
nicolas_guerrero | 0:3a659d0cc027 | 10 | #define periodo 20 |
nicolas_guerrero | 0:3a659d0cc027 | 11 | #define CM_EJECUTAR 0xff |
nicolas_guerrero | 0:3a659d0cc027 | 12 | #define CM_GUARDAR 0xfe |
nicolas_guerrero | 0:3a659d0cc027 | 13 | #define CM_VERTEX2D 0xfd |
nicolas_guerrero | 0:3a659d0cc027 | 14 | #define CM_DRAW 0xfc |
nicolas_guerrero | 0:3a659d0cc027 | 15 | #define CM_NODRAW 0xfb |
nicolas_guerrero | 0:3a659d0cc027 | 16 | #define CM_STOP 0xfa |
nicolas_guerrero | 0:3a659d0cc027 | 17 | #define CM_END 0xf0 |
nicolas_guerrero | 1:629f060522ce | 18 | #define CM_SMOTOR 0xf9 |
nicolas_guerrero | 0:3a659d0cc027 | 19 | |
nicolas_guerrero | 0:3a659d0cc027 | 20 | MEM_TYPE arreglo2[MEM_SIZE]; |
nicolas_guerrero | 0:3a659d0cc027 | 21 | Serial pc(USBTX, USBRX); |
nicolas_guerrero | 0:3a659d0cc027 | 22 | PwmOut motor_x(PB_4), motor_y(PB_5), motor_z(PB_3); |
nicolas_guerrero | 1:629f060522ce | 23 | stepmotor smotor1(D9,D10,D11,D12); |
nicolas_guerrero | 1:629f060522ce | 24 | stepmotor smotor2 (PA_13,PA_14,PA_15,PB_7); |
nicolas_guerrero | 0:3a659d0cc027 | 25 | int mem_head = 0,i=0,z=0; |
nicolas_guerrero | 0:3a659d0cc027 | 26 | int mem_tail = 0; |
nicolas_guerrero | 0:3a659d0cc027 | 27 | uint8_t full = 0; |
nicolas_guerrero | 1:629f060522ce | 28 | char b,verificar=0; |
nicolas_guerrero | 0:3a659d0cc027 | 29 | MEM_TYPE comando,px,py,condicionf; |
nicolas_guerrero | 0:3a659d0cc027 | 30 | |
nicolas_guerrero | 0:3a659d0cc027 | 31 | |
nicolas_guerrero | 0:3a659d0cc027 | 32 | int coord2us(float coord) |
nicolas_guerrero | 0:3a659d0cc027 | 33 | { |
nicolas_guerrero | 0:3a659d0cc027 | 34 | if(0 <= coord <= MAXPOS) |
nicolas_guerrero | 0:3a659d0cc027 | 35 | return int(750+coord*1900/50);// u6 |
nicolas_guerrero | 0:3a659d0cc027 | 36 | return 750; |
nicolas_guerrero | 0:3a659d0cc027 | 37 | |
nicolas_guerrero | 0:3a659d0cc027 | 38 | } |
nicolas_guerrero | 0:3a659d0cc027 | 39 | |
nicolas_guerrero | 0:3a659d0cc027 | 40 | void draw() |
nicolas_guerrero | 0:3a659d0cc027 | 41 | { |
nicolas_guerrero | 0:3a659d0cc027 | 42 | z=coord2us(POSDRAW); |
nicolas_guerrero | 0:3a659d0cc027 | 43 | motor_z.pulsewidth_us(z); |
nicolas_guerrero | 0:3a659d0cc027 | 44 | wait(1); |
nicolas_guerrero | 0:3a659d0cc027 | 45 | } |
nicolas_guerrero | 1:629f060522ce | 46 | |
nicolas_guerrero | 0:3a659d0cc027 | 47 | void nodraw() |
nicolas_guerrero | 1:629f060522ce | 48 | { |
nicolas_guerrero | 0:3a659d0cc027 | 49 | z=coord2us(MAXPOS); |
nicolas_guerrero | 0:3a659d0cc027 | 50 | motor_z.pulsewidth_us(z); |
nicolas_guerrero | 0:3a659d0cc027 | 51 | wait(1); |
nicolas_guerrero | 0:3a659d0cc027 | 52 | } |
nicolas_guerrero | 1:629f060522ce | 53 | |
nicolas_guerrero | 0:3a659d0cc027 | 54 | void vertex2d(float x, float y){ |
nicolas_guerrero | 0:3a659d0cc027 | 55 | |
nicolas_guerrero | 0:3a659d0cc027 | 56 | int pulseX = coord2us(x); |
nicolas_guerrero | 0:3a659d0cc027 | 57 | int pulseY = coord2us(y); |
nicolas_guerrero | 0:3a659d0cc027 | 58 | |
nicolas_guerrero | 0:3a659d0cc027 | 59 | motor_x.pulsewidth_us(pulseX); |
nicolas_guerrero | 0:3a659d0cc027 | 60 | motor_y.pulsewidth_us(pulseY); |
nicolas_guerrero | 0:3a659d0cc027 | 61 | wait_ms(SS_TIME); |
nicolas_guerrero | 0:3a659d0cc027 | 62 | |
nicolas_guerrero | 0:3a659d0cc027 | 63 | } |
nicolas_guerrero | 0:3a659d0cc027 | 64 | /////////////////////////////////////////////////////// |
nicolas_guerrero | 1:629f060522ce | 65 | void ejecutar() |
nicolas_guerrero | 1:629f060522ce | 66 | { |
nicolas_guerrero | 0:3a659d0cc027 | 67 | MEM_TYPE bandera=0; |
nicolas_guerrero | 1:629f060522ce | 68 | if (mem_head==0) {pc.printf("no hay datos para ejecutar\r\n");} |
nicolas_guerrero | 1:629f060522ce | 69 | else |
nicolas_guerrero | 1:629f060522ce | 70 | { |
nicolas_guerrero | 1:629f060522ce | 71 | pc.printf("se esta ejecutando el dibujo...\r\n"); |
nicolas_guerrero | 1:629f060522ce | 72 | for(i=0;i<mem_head-1;i++) |
nicolas_guerrero | 0:3a659d0cc027 | 73 | { |
nicolas_guerrero | 1:629f060522ce | 74 | uint32_t speed=1500; |
nicolas_guerrero | 1:629f060522ce | 75 | smotor1.set_speed(speed); |
nicolas_guerrero | 1:629f060522ce | 76 | bandera=arreglo2[i]; |
nicolas_guerrero | 1:629f060522ce | 77 | switch (bandera) |
nicolas_guerrero | 0:3a659d0cc027 | 78 | { |
nicolas_guerrero | 1:629f060522ce | 79 | case CM_DRAW: draw();break; |
nicolas_guerrero | 1:629f060522ce | 80 | case CM_NODRAW: nodraw(); break; |
nicolas_guerrero | 1:629f060522ce | 81 | default: |
nicolas_guerrero | 1:629f060522ce | 82 | verificar = (uint8_t)(bandera>>16); |
nicolas_guerrero | 1:629f060522ce | 83 | int x = (uint8_t)(bandera>>8); |
nicolas_guerrero | 1:629f060522ce | 84 | int y = (uint8_t)(bandera); |
nicolas_guerrero | 1:629f060522ce | 85 | if (verificar==CM_SMOTOR){smotor1.step((uint32_t)x,(bool)y);} |
nicolas_guerrero | 1:629f060522ce | 86 | if (verificar==CM_VERTEX2D){vertex2d(x,y);} |
nicolas_guerrero | 1:629f060522ce | 87 | break; |
nicolas_guerrero | 0:3a659d0cc027 | 88 | } |
nicolas_guerrero | 0:3a659d0cc027 | 89 | } |
nicolas_guerrero | 0:3a659d0cc027 | 90 | } |
nicolas_guerrero | 0:3a659d0cc027 | 91 | } |
nicolas_guerrero | 1:629f060522ce | 92 | uint32_t read_command() |
nicolas_guerrero | 1:629f060522ce | 93 | { |
nicolas_guerrero | 1:629f060522ce | 94 | |
nicolas_guerrero | 1:629f060522ce | 95 | uint32_t val=0; |
nicolas_guerrero | 1:629f060522ce | 96 | uint8_t cnt=0; |
nicolas_guerrero | 1:629f060522ce | 97 | |
nicolas_guerrero | 1:629f060522ce | 98 | char endc=pc.getc(); |
nicolas_guerrero | 1:629f060522ce | 99 | |
nicolas_guerrero | 1:629f060522ce | 100 | while(endc != CM_END && cnt <4) { |
nicolas_guerrero | 1:629f060522ce | 101 | if(endc!=CM_END) |
nicolas_guerrero | 1:629f060522ce | 102 | val=((val<<8) +endc); |
nicolas_guerrero | 1:629f060522ce | 103 | endc=pc.getc(); |
nicolas_guerrero | 1:629f060522ce | 104 | cnt++; |
nicolas_guerrero | 1:629f060522ce | 105 | } |
nicolas_guerrero | 1:629f060522ce | 106 | if(endc==CM_END) |
nicolas_guerrero | 1:629f060522ce | 107 | return val; |
nicolas_guerrero | 1:629f060522ce | 108 | return 0; //al retornar 0 indica que no se recibe el comando |
nicolas_guerrero | 1:629f060522ce | 109 | } |
nicolas_guerrero | 0:3a659d0cc027 | 110 | ///////////////////////////////////////////////////////////// |
nicolas_guerrero | 1:629f060522ce | 111 | void guardar() |
nicolas_guerrero | 1:629f060522ce | 112 | { |
nicolas_guerrero | 0:3a659d0cc027 | 113 | pc.printf("se inicia el comado de guardar..\r\n"); |
nicolas_guerrero | 0:3a659d0cc027 | 114 | mem_head=0; |
nicolas_guerrero | 0:3a659d0cc027 | 115 | do |
nicolas_guerrero | 0:3a659d0cc027 | 116 | { |
nicolas_guerrero | 1:629f060522ce | 117 | pc.printf("entro while llenar\n\r"); |
nicolas_guerrero | 1:629f060522ce | 118 | arreglo2[mem_head]= read_command(); |
nicolas_guerrero | 0:3a659d0cc027 | 119 | b=arreglo2[mem_head]; |
nicolas_guerrero | 1:629f060522ce | 120 | pc.printf("posicion %i se lleno con %x\r\n",mem_head,arreglo2[mem_head]); |
nicolas_guerrero | 0:3a659d0cc027 | 121 | mem_head++; |
nicolas_guerrero | 0:3a659d0cc027 | 122 | } |
nicolas_guerrero | 0:3a659d0cc027 | 123 | while(b!=CM_STOP); |
nicolas_guerrero | 0:3a659d0cc027 | 124 | |
nicolas_guerrero | 0:3a659d0cc027 | 125 | } |
nicolas_guerrero | 1:629f060522ce | 126 | /////////////////////////////////////////////////////// |
nicolas_guerrero | 1:629f060522ce | 127 | |
nicolas_guerrero | 0:3a659d0cc027 | 128 | |
nicolas_guerrero | 1:629f060522ce | 129 | int main() |
nicolas_guerrero | 1:629f060522ce | 130 | { |
nicolas_guerrero | 0:3a659d0cc027 | 131 | // configuracion de periodo |
nicolas_guerrero | 0:3a659d0cc027 | 132 | motor_x.period_ms(periodo); |
nicolas_guerrero | 0:3a659d0cc027 | 133 | motor_y.period_ms(periodo); |
nicolas_guerrero | 0:3a659d0cc027 | 134 | motor_z.period_ms(periodo); |
nicolas_guerrero | 1:629f060522ce | 135 | motor_x.pulsewidth_us(750); |
nicolas_guerrero | 1:629f060522ce | 136 | motor_y.pulsewidth_us(750); |
nicolas_guerrero | 1:629f060522ce | 137 | motor_z.pulsewidth_us(2000); |
nicolas_guerrero | 0:3a659d0cc027 | 138 | char caracter; |
nicolas_guerrero | 1:629f060522ce | 139 | while(1) |
nicolas_guerrero | 0:3a659d0cc027 | 140 | { |
nicolas_guerrero | 1:629f060522ce | 141 | caracter=read_command(); |
nicolas_guerrero | 1:629f060522ce | 142 | switch (caracter) |
nicolas_guerrero | 1:629f060522ce | 143 | { |
nicolas_guerrero | 0:3a659d0cc027 | 144 | case CM_EJECUTAR: ejecutar(); break; |
nicolas_guerrero | 0:3a659d0cc027 | 145 | case CM_GUARDAR: guardar(); break; |
nicolas_guerrero | 1:629f060522ce | 146 | default: pc.printf("error de comando\r\n");break; |
nicolas_guerrero | 0:3a659d0cc027 | 147 | } |
nicolas_guerrero | 0:3a659d0cc027 | 148 | } |
nicolas_guerrero | 0:3a659d0cc027 | 149 | } |