File content as of revision 4:244a242e0428:

 
#include "draw.h"
#include "mbed.h"
#include "math.h"

 
PwmOut myServoZ(PB_3);
PwmOut myServoX(PB_4);
PwmOut myServoY(PB_5);
 
uint8_t  posx_old=0;     // posición anterior del eje X
uint8_t  posy_old=0;     // posición anterior del eje Y
uint8_t  ss_time=50;     // tiempo  de espera para moverse 1 mm en microsegundos
 
void put_sstime(uint8_t vtime){
    ss_time=vtime;
    
}
 
int coord2us(float coord)
{
    if(0 <= coord <= MAXPOS)
        return int(750+coord*1900/50);// u6
    return 750;
 
}
 
void sstime(uint8_t x, uint8_t y)
{
    double dx=abs(x-posx_old);
    double dy=abs(y-posy_old);
    double dist= sqrt(dx*dx+dy*dy);
    wait_ms((int)(ss_time*dist));
    posx_old =x;
    posy_old=y;
    
 }
 
void draw(){
myServoZ.pulsewidth_us(coord2us(POSDRAW));
wait_ms(ss_time*10);
}
 
void nodraw(){
myServoZ.pulsewidth_us(coord2us(POSNODRAW));
wait_ms(ss_time*10);
}
 
void vertex2d(uint8_t x, uint8_t y){
 
    int pulseX = coord2us(x);
    int pulseY = coord2us(y);
    
    myServoX.pulsewidth_us(pulseX);
    myServoY.pulsewidth_us(pulseY);
   
    sstime(x,y); 
}
 
void initdraw(float x, float y){
    vertex2d (x,y);
    draw();
} 

void home(){
    nodraw();
    vertex2d(0 ,0);
}    
 
 
 
void init_servo()
{
   myServoX.period_ms(20);
   myServoY.period_ms(20);
   myServoZ.period_ms(20);
 
    
}