peter brier / Mbed 2 deprecated laos

LaOS Laser test program

Dependencies:   mbed

main.cpp@1:93d357b92fd0, 2011-01-27 (annotated)

Committer:
pbrier
Date:
Thu Jan 27 20:07:29 2011 +0000
Revision:
1:93d357b92fd0
Parent:
0:5c352dab4496 
1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pbrier 0:5c352dab4496 1 /*
pbrier 0:5c352dab4496 2 * main.cpp
pbrier 0:5c352dab4496 3 *
pbrier 0:5c352dab4496 4 * Copyright (c) 2011 Peter Brier
pbrier 0:5c352dab4496 5 *
pbrier 0:5c352dab4496 6 * This file is part of the LaOS project (see: http://wiki.protospace.nl/index.php/LaOS)
pbrier 0:5c352dab4496 7 *
pbrier 0:5c352dab4496 8 * LaOS is free software: you can redistribute it and/or modify
pbrier 0:5c352dab4496 9 * it under the terms of the GNU General Public License as published by
pbrier 0:5c352dab4496 10 * the Free Software Foundation, either version 3 of the License, or
pbrier 0:5c352dab4496 11 * (at your option) any later version.
pbrier 0:5c352dab4496 12 *
pbrier 0:5c352dab4496 13 * LaOS is distributed in the hope that it will be useful,
pbrier 0:5c352dab4496 14 * but WITHOUT ANY WARRANTY; without even the implied warranty of
pbrier 0:5c352dab4496 15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
pbrier 0:5c352dab4496 16 * GNU General Public License for more details.
pbrier 0:5c352dab4496 17 *
pbrier 0:5c352dab4496 18 * You should have received a copy of the GNU General Public License
pbrier 0:5c352dab4496 19 * along with LaOS. If not, see <http://www.gnu.org/licenses/>.
pbrier 0:5c352dab4496 20 *
pbrier 0:5c352dab4496 21 * This program implements Bresenham line algorithm program (2D)
pbrier 0:5c352dab4496 22 * see: http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
pbrier 0:5c352dab4496 23 * In addition: we controll a Z-axis and a laser.
pbrier 1:93d357b92fd0 24 * Note: Fixed speed lasering (no accelleration).
pbrier 1:93d357b92fd0 25 * Simple program, no line buffering. Considerable jitter on pulses. Speed varies approx 30%, depending on angle (varies over 1.5 degree)
pbrier 0:5c352dab4496 26 *
pbrier 0:5c352dab4496 27 */
pbrier 0:5c352dab4496 28 #include "mbed.h"
pbrier 0:5c352dab4496 29
pbrier 0:5c352dab4496 30 // serial comm
pbrier 0:5c352dab4496 31 Serial pc(USBTX, USBRX);
pbrier 0:5c352dab4496 32
pbrier 0:5c352dab4496 33 // status leds
pbrier 0:5c352dab4496 34 DigitalOut led1(LED1);
pbrier 0:5c352dab4496 35 DigitalOut led2(LED2);
pbrier 0:5c352dab4496 36 DigitalOut led3(LED3);
pbrier 0:5c352dab4496 37 DigitalOut led4(LED4);
pbrier 0:5c352dab4496 38
pbrier 0:5c352dab4496 39 // motors
pbrier 0:5c352dab4496 40 DigitalOut xdir(p26);
pbrier 0:5c352dab4496 41 DigitalOut xstep(p25);
pbrier 0:5c352dab4496 42 DigitalOut ydir(p24);
pbrier 0:5c352dab4496 43 DigitalOut ystep(p23);
pbrier 0:5c352dab4496 44 DigitalOut zdir(p22);
pbrier 0:5c352dab4496 45 DigitalOut zstep(p21);
pbrier 0:5c352dab4496 46
pbrier 0:5c352dab4496 47 // laser
pbrier 0:5c352dab4496 48 DigitalOut laser(p27);
pbrier 0:5c352dab4496 49
pbrier 0:5c352dab4496 50 // globals
pbrier 0:5c352dab4496 51 Ticker ticker; // Timer
pbrier 0:5c352dab4496 52
pbrier 0:5c352dab4496 53 // Besenham variables
pbrier 0:5c352dab4496 54 int state, laseron;
pbrier 0:5c352dab4496 55 int x0,y0,x1,y1,z0,z1; // positions: 0=current, 1=new
pbrier 0:5c352dab4496 56 int dx, sx; // step
pbrier 0:5c352dab4496 57 int dy, sy; // delta
pbrier 0:5c352dab4496 58 int err, e2; // error
pbrier 0:5c352dab4496 59
pbrier 0:5c352dab4496 60
pbrier 0:5c352dab4496 61 /**
pbrier 0:5c352dab4496 62 *** ticker: implement timer ticker, step if required
pbrier 0:5c352dab4496 63 **/
pbrier 0:5c352dab4496 64 void tick()
pbrier 0:5c352dab4496 65 {
pbrier 0:5c352dab4496 66 // Control X,Y: line tracker
pbrier 0:5c352dab4496 67 switch ( state )
pbrier 0:5c352dab4496 68 {
pbrier 0:5c352dab4496 69 case 0: // idle (make sure laser is off)
pbrier 0:5c352dab4496 70 laser = laseron = 0;
pbrier 0:5c352dab4496 71 break;
pbrier 0:5c352dab4496 72 case 1: // init
pbrier 0:5c352dab4496 73 dx = abs(x1-x0);
pbrier 0:5c352dab4496 74 sx = x0<x1 ? 1 : -1;
pbrier 0:5c352dab4496 75 dy = abs(y1-y0);
pbrier 0:5c352dab4496 76 sy = y0<y1 ? 1 : -1;
pbrier 0:5c352dab4496 77 err = (dx>dy ? dx : -dy)/2;
pbrier 0:5c352dab4496 78 xdir = sx > 0;
pbrier 0:5c352dab4496 79 ydir = sy > 0;
pbrier 0:5c352dab4496 80 state++;
pbrier 0:5c352dab4496 81 laser = laseron;
pbrier 0:5c352dab4496 82 break;
pbrier 0:5c352dab4496 83 case 2: // moving
pbrier 0:5c352dab4496 84 if (x0==x1 && y0==y1)
pbrier 0:5c352dab4496 85 state = 0;
pbrier 0:5c352dab4496 86 else
pbrier 0:5c352dab4496 87 {
pbrier 0:5c352dab4496 88 e2 = err;
pbrier 0:5c352dab4496 89 if (e2 >-dx) { err -= dy; x0 += sx; xstep = 1;}
pbrier 0:5c352dab4496 90 if (e2 < dy) { err += dx; y0 += sy; ystep = 1;}
pbrier 0:5c352dab4496 91 }
pbrier 0:5c352dab4496 92 break;
pbrier 0:5c352dab4496 93 }
pbrier 0:5c352dab4496 94
pbrier 0:5c352dab4496 95 // Controll Z: tracking controller (independent of XY motion, not queued)
pbrier 0:5c352dab4496 96 if ( z1 != z0 )
pbrier 0:5c352dab4496 97 {
pbrier 0:5c352dab4496 98 zdir = z1 > z0;
pbrier 0:5c352dab4496 99 wait_us(5);
pbrier 0:5c352dab4496 100 zstep= 1;
pbrier 0:5c352dab4496 101 if ( z1 > z0 ) z0++;
pbrier 0:5c352dab4496 102 else z0--;
pbrier 0:5c352dab4496 103 }
pbrier 0:5c352dab4496 104
pbrier 0:5c352dab4496 105 if ( xstep == 1 || ystep == 1 || zstep == 1 )
pbrier 0:5c352dab4496 106 {
pbrier 0:5c352dab4496 107 wait_us(5);
pbrier 0:5c352dab4496 108 xstep = ystep = zstep = 0;
pbrier 0:5c352dab4496 109 }
pbrier 0:5c352dab4496 110
pbrier 0:5c352dab4496 111 // diagnostic info
pbrier 0:5c352dab4496 112 led1 = xdir;
pbrier 0:5c352dab4496 113 led2 = ydir;
pbrier 0:5c352dab4496 114 led3 = zdir;
pbrier 0:5c352dab4496 115 led4 = laser;
pbrier 0:5c352dab4496 116 } // ticker
pbrier 0:5c352dab4496 117
pbrier 0:5c352dab4496 118
pbrier 0:5c352dab4496 119
pbrier 0:5c352dab4496 120 /**
pbrier 0:5c352dab4496 121 *** main()
pbrier 0:5c352dab4496 122 *** Read commands, report state
pbrier 0:5c352dab4496 123 **/
pbrier 0:5c352dab4496 124 int main()
pbrier 0:5c352dab4496 125 {
pbrier 0:5c352dab4496 126 int v=100,c=0,z=0;
pbrier 0:5c352dab4496 127
pbrier 0:5c352dab4496 128 pc.baud(115200);
pbrier 0:5c352dab4496 129 ticker.attach_us(&tick, v); // the address of the function to be attached (flip) and the interval (microseconds)
pbrier 0:5c352dab4496 130
pbrier 0:5c352dab4496 131 // init
pbrier 0:5c352dab4496 132 state = laser = xstep = xdir = ystep = ydir = zstep = zdir = 0;
pbrier 0:5c352dab4496 133
pbrier 0:5c352dab4496 134 while( 1 )
pbrier 0:5c352dab4496 135 {
pbrier 0:5c352dab4496 136 scanf("%d", &c);
pbrier 0:5c352dab4496 137 switch( c )
pbrier 0:5c352dab4496 138 {
pbrier 0:5c352dab4496 139 case 0: // move x,y (laser off)
pbrier 0:5c352dab4496 140 scanf("%d %d", &x1, &y1);
pbrier 0:5c352dab4496 141 laseron = 0;
pbrier 0:5c352dab4496 142 state = 1;
pbrier 0:5c352dab4496 143 break;
pbrier 0:5c352dab4496 144 case 1: // line x,y (laser on)
pbrier 0:5c352dab4496 145 scanf("%d %d", &x1, &y1);
pbrier 0:5c352dab4496 146 laseron = 1;
pbrier 0:5c352dab4496 147 state = 1;
pbrier 0:5c352dab4496 148 break;
pbrier 0:5c352dab4496 149 case 2: // move z
pbrier 0:5c352dab4496 150 scanf("%d", &z1);
pbrier 0:5c352dab4496 151 break;
pbrier 0:5c352dab4496 152 case 3: // set t (1/v)
pbrier 0:5c352dab4496 153 scanf("%d", &v);
pbrier 0:5c352dab4496 154 ticker.attach_us(&tick, v);
pbrier 0:5c352dab4496 155 break;
pbrier 0:5c352dab4496 156 case 4: // set x,y,z absolute
pbrier 0:5c352dab4496 157 scanf("%d %d %d", &x0, &y0, &z);
pbrier 0:5c352dab4496 158 z1 = z0 = z;
pbrier 0:5c352dab4496 159 case 5: // nop
pbrier 0:5c352dab4496 160 break;
pbrier 0:5c352dab4496 161 default: // I do not understand: stop motion
pbrier 0:5c352dab4496 162 state = 0;
pbrier 0:5c352dab4496 163 break;
pbrier 0:5c352dab4496 164 }
pbrier 0:5c352dab4496 165 printf("%d %d %d %d %d %d\r\n", state, x0, y0, z0, v, laseron);
pbrier 0:5c352dab4496 166 }
pbrier 0:5c352dab4496 167 }