Nicolás Camilo Guerrero Otálora
/
codigopicolo2
CODIGO PICOLO
/media/uploads/nicolas_guerrero/definimos_variables_globales.pdf
main.cpp@0:3a659d0cc027, 2018-03-15 (annotated)
- Committer:
- nicolas_guerrero
- Date:
- Thu Mar 15 02:18:46 2018 +0000
- Revision:
- 0:3a659d0cc027
- Child:
- 1:629f060522ce
CODIGO PICOLO
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 | 0:3a659d0cc027 | 3 | #define MEM_SIZE 5000 |
nicolas_guerrero | 0:3a659d0cc027 | 4 | #define MEM_TYPE uint32_t |
nicolas_guerrero | 0:3a659d0cc027 | 5 | #define MAXPOS 50 // en milimetros |
nicolas_guerrero | 0:3a659d0cc027 | 6 | #define SS_TIME 100 // en microsegundos |
nicolas_guerrero | 0:3a659d0cc027 | 7 | #define POSDRAW 10 |
nicolas_guerrero | 0:3a659d0cc027 | 8 | #define periodo 20 |
nicolas_guerrero | 0:3a659d0cc027 | 9 | #define CM_EJECUTAR 0xff |
nicolas_guerrero | 0:3a659d0cc027 | 10 | #define CM_GUARDAR 0xfe |
nicolas_guerrero | 0:3a659d0cc027 | 11 | #define CM_VERTEX2D 0xfd |
nicolas_guerrero | 0:3a659d0cc027 | 12 | #define CM_DRAW 0xfc |
nicolas_guerrero | 0:3a659d0cc027 | 13 | #define CM_NODRAW 0xfb |
nicolas_guerrero | 0:3a659d0cc027 | 14 | #define CM_STOP 0xfa |
nicolas_guerrero | 0:3a659d0cc027 | 15 | #define CM_END 0xf0 |
nicolas_guerrero | 0:3a659d0cc027 | 16 | |
nicolas_guerrero | 0:3a659d0cc027 | 17 | MEM_TYPE arreglo2[MEM_SIZE]; |
nicolas_guerrero | 0:3a659d0cc027 | 18 | Serial pc(USBTX, USBRX); |
nicolas_guerrero | 0:3a659d0cc027 | 19 | PwmOut motor_x(PB_4), motor_y(PB_5), motor_z(PB_3); |
nicolas_guerrero | 0:3a659d0cc027 | 20 | int mem_head = 0,i=0,z=0; |
nicolas_guerrero | 0:3a659d0cc027 | 21 | int mem_tail = 0; |
nicolas_guerrero | 0:3a659d0cc027 | 22 | uint8_t full = 0; |
nicolas_guerrero | 0:3a659d0cc027 | 23 | char b; |
nicolas_guerrero | 0:3a659d0cc027 | 24 | MEM_TYPE comando,px,py,condicionf; |
nicolas_guerrero | 0:3a659d0cc027 | 25 | |
nicolas_guerrero | 0:3a659d0cc027 | 26 | |
nicolas_guerrero | 0:3a659d0cc027 | 27 | |
nicolas_guerrero | 0:3a659d0cc027 | 28 | int coord2us(float coord) |
nicolas_guerrero | 0:3a659d0cc027 | 29 | { |
nicolas_guerrero | 0:3a659d0cc027 | 30 | if(0 <= coord <= MAXPOS) |
nicolas_guerrero | 0:3a659d0cc027 | 31 | return int(750+coord*1900/50);// u6 |
nicolas_guerrero | 0:3a659d0cc027 | 32 | return 750; |
nicolas_guerrero | 0:3a659d0cc027 | 33 | |
nicolas_guerrero | 0:3a659d0cc027 | 34 | } |
nicolas_guerrero | 0:3a659d0cc027 | 35 | |
nicolas_guerrero | 0:3a659d0cc027 | 36 | void draw() |
nicolas_guerrero | 0:3a659d0cc027 | 37 | { |
nicolas_guerrero | 0:3a659d0cc027 | 38 | z=coord2us(POSDRAW); |
nicolas_guerrero | 0:3a659d0cc027 | 39 | motor_z.pulsewidth_us(z); |
nicolas_guerrero | 0:3a659d0cc027 | 40 | wait(1); |
nicolas_guerrero | 0:3a659d0cc027 | 41 | } |
nicolas_guerrero | 0:3a659d0cc027 | 42 | void nodraw() |
nicolas_guerrero | 0:3a659d0cc027 | 43 | { |
nicolas_guerrero | 0:3a659d0cc027 | 44 | |
nicolas_guerrero | 0:3a659d0cc027 | 45 | z=coord2us(MAXPOS); |
nicolas_guerrero | 0:3a659d0cc027 | 46 | motor_z.pulsewidth_us(z); |
nicolas_guerrero | 0:3a659d0cc027 | 47 | wait(1); |
nicolas_guerrero | 0:3a659d0cc027 | 48 | } |
nicolas_guerrero | 0:3a659d0cc027 | 49 | void vertex2d(float x, float y){ |
nicolas_guerrero | 0:3a659d0cc027 | 50 | |
nicolas_guerrero | 0:3a659d0cc027 | 51 | int pulseX = coord2us(x); |
nicolas_guerrero | 0:3a659d0cc027 | 52 | int pulseY = coord2us(y); |
nicolas_guerrero | 0:3a659d0cc027 | 53 | |
nicolas_guerrero | 0:3a659d0cc027 | 54 | motor_x.pulsewidth_us(pulseX); |
nicolas_guerrero | 0:3a659d0cc027 | 55 | motor_y.pulsewidth_us(pulseY); |
nicolas_guerrero | 0:3a659d0cc027 | 56 | wait_ms(SS_TIME); |
nicolas_guerrero | 0:3a659d0cc027 | 57 | |
nicolas_guerrero | 0:3a659d0cc027 | 58 | } |
nicolas_guerrero | 0:3a659d0cc027 | 59 | /////////////////////////////////////////////////////// |
nicolas_guerrero | 0:3a659d0cc027 | 60 | void ejecutar(){ |
nicolas_guerrero | 0:3a659d0cc027 | 61 | MEM_TYPE bandera=0; |
nicolas_guerrero | 0:3a659d0cc027 | 62 | pc.printf("se esta ejecutando el dibujo...\r\n"); |
nicolas_guerrero | 0:3a659d0cc027 | 63 | for(i=0;i<mem_head-1;i++) |
nicolas_guerrero | 0:3a659d0cc027 | 64 | { |
nicolas_guerrero | 0:3a659d0cc027 | 65 | bandera=arreglo2[i]; |
nicolas_guerrero | 0:3a659d0cc027 | 66 | while (bandera==CM_VERTEX2D)//FD F0 |
nicolas_guerrero | 0:3a659d0cc027 | 67 | { |
nicolas_guerrero | 0:3a659d0cc027 | 68 | |
nicolas_guerrero | 0:3a659d0cc027 | 69 | pc.printf("entro if porque arreglo2[%i] =%x\r\n",i,arreglo2[i]); |
nicolas_guerrero | 0:3a659d0cc027 | 70 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 71 | px=arreglo2[i]; |
nicolas_guerrero | 0:3a659d0cc027 | 72 | pc.printf("posicion x=%i\r\n",px); |
nicolas_guerrero | 0:3a659d0cc027 | 73 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 74 | py=arreglo2[i]; |
nicolas_guerrero | 0:3a659d0cc027 | 75 | pc.printf("posicion x=%i\r\n",py); |
nicolas_guerrero | 0:3a659d0cc027 | 76 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 77 | pc.printf("[%x]",arreglo2[i]); |
nicolas_guerrero | 0:3a659d0cc027 | 78 | |
nicolas_guerrero | 0:3a659d0cc027 | 79 | if(arreglo2[i]==CM_END) |
nicolas_guerrero | 0:3a659d0cc027 | 80 | { |
nicolas_guerrero | 0:3a659d0cc027 | 81 | vertex2d(px,py); |
nicolas_guerrero | 0:3a659d0cc027 | 82 | wait(1); |
nicolas_guerrero | 0:3a659d0cc027 | 83 | } |
nicolas_guerrero | 0:3a659d0cc027 | 84 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 85 | bandera=arreglo2[i]; |
nicolas_guerrero | 0:3a659d0cc027 | 86 | } |
nicolas_guerrero | 0:3a659d0cc027 | 87 | if(arreglo2[i]==CM_DRAW) |
nicolas_guerrero | 0:3a659d0cc027 | 88 | { |
nicolas_guerrero | 0:3a659d0cc027 | 89 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 90 | if(arreglo2[i]==CM_END) |
nicolas_guerrero | 0:3a659d0cc027 | 91 | { |
nicolas_guerrero | 0:3a659d0cc027 | 92 | draw(); |
nicolas_guerrero | 0:3a659d0cc027 | 93 | } |
nicolas_guerrero | 0:3a659d0cc027 | 94 | } |
nicolas_guerrero | 0:3a659d0cc027 | 95 | if(arreglo2[i]==CM_NODRAW) |
nicolas_guerrero | 0:3a659d0cc027 | 96 | { |
nicolas_guerrero | 0:3a659d0cc027 | 97 | i++; |
nicolas_guerrero | 0:3a659d0cc027 | 98 | if(arreglo2[i]==CM_END) |
nicolas_guerrero | 0:3a659d0cc027 | 99 | { |
nicolas_guerrero | 0:3a659d0cc027 | 100 | nodraw(); |
nicolas_guerrero | 0:3a659d0cc027 | 101 | } |
nicolas_guerrero | 0:3a659d0cc027 | 102 | } |
nicolas_guerrero | 0:3a659d0cc027 | 103 | } |
nicolas_guerrero | 0:3a659d0cc027 | 104 | } |
nicolas_guerrero | 0:3a659d0cc027 | 105 | ///////////////////////////////////////////////////////////// |
nicolas_guerrero | 0:3a659d0cc027 | 106 | void guardar(){ |
nicolas_guerrero | 0:3a659d0cc027 | 107 | pc.printf("se inicia el comado de guardar..\r\n"); |
nicolas_guerrero | 0:3a659d0cc027 | 108 | mem_head=0; |
nicolas_guerrero | 0:3a659d0cc027 | 109 | do |
nicolas_guerrero | 0:3a659d0cc027 | 110 | { |
nicolas_guerrero | 0:3a659d0cc027 | 111 | // pc.printf("entro while llenar\n\r"); |
nicolas_guerrero | 0:3a659d0cc027 | 112 | arreglo2[mem_head]=pc.getc(); |
nicolas_guerrero | 0:3a659d0cc027 | 113 | b=arreglo2[mem_head]; |
nicolas_guerrero | 0:3a659d0cc027 | 114 | // pc.printf("posicion %i se lleno con %x\r\n",mem_head,arreglo2[mem_head]); |
nicolas_guerrero | 0:3a659d0cc027 | 115 | mem_head++; |
nicolas_guerrero | 0:3a659d0cc027 | 116 | } |
nicolas_guerrero | 0:3a659d0cc027 | 117 | while(b!=CM_STOP); |
nicolas_guerrero | 0:3a659d0cc027 | 118 | |
nicolas_guerrero | 0:3a659d0cc027 | 119 | } |
nicolas_guerrero | 0:3a659d0cc027 | 120 | |
nicolas_guerrero | 0:3a659d0cc027 | 121 | int main() { |
nicolas_guerrero | 0:3a659d0cc027 | 122 | // configuracion de periodo |
nicolas_guerrero | 0:3a659d0cc027 | 123 | motor_x.period_ms(periodo); |
nicolas_guerrero | 0:3a659d0cc027 | 124 | motor_y.period_ms(periodo); |
nicolas_guerrero | 0:3a659d0cc027 | 125 | motor_z.period_ms(periodo); |
nicolas_guerrero | 0:3a659d0cc027 | 126 | motor_x.pulsewidth_us(725); |
nicolas_guerrero | 0:3a659d0cc027 | 127 | motor_y.pulsewidth_us(725); |
nicolas_guerrero | 0:3a659d0cc027 | 128 | motor_z.pulsewidth_us(2650); |
nicolas_guerrero | 0:3a659d0cc027 | 129 | int posx=0; |
nicolas_guerrero | 0:3a659d0cc027 | 130 | int posy=0; |
nicolas_guerrero | 0:3a659d0cc027 | 131 | char caracter; |
nicolas_guerrero | 0:3a659d0cc027 | 132 | while(1) |
nicolas_guerrero | 0:3a659d0cc027 | 133 | { |
nicolas_guerrero | 0:3a659d0cc027 | 134 | caracter=pc.getc(); |
nicolas_guerrero | 0:3a659d0cc027 | 135 | switch (caracter) { |
nicolas_guerrero | 0:3a659d0cc027 | 136 | case CM_EJECUTAR: ejecutar(); break; |
nicolas_guerrero | 0:3a659d0cc027 | 137 | case CM_GUARDAR: guardar(); break; |
nicolas_guerrero | 0:3a659d0cc027 | 138 | default: pc.printf("error de comando\r\n");break ; |
nicolas_guerrero | 0:3a659d0cc027 | 139 | } |
nicolas_guerrero | 0:3a659d0cc027 | 140 | } |
nicolas_guerrero | 0:3a659d0cc027 | 141 | } |