Diff: main.cpp

Revision:

0:64c0ae9da68e

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Sep 16 01:44:03 2017 +0000
@@ -0,0 +1,189 @@
+#include "mbed.h"
+#define MAXPOS 255
+
+PwmOut servoX(PB_3);
+PwmOut servoY(PB_4);
+PwmOut servoZ(PB_5);
+
+
+DigitalIn botoncirculo(PA_0);
+DigitalIn botonpunto(PB_0);
+DigitalIn botonlinea(PC_1);
+DigitalIn botoncuadrado(PC_0);
+float xvalue, yvalue, xiline,yiline,xfline,yfline;
+int xisquare, yisquare,lenght,xlado,ylado;
+double i,j,r;
+ 
+ 
+ 
+int coord2pulse(float coord)
+{
+    if(0 <= coord <= MAXPOS)
+    return int(coord*1000/150+750);
+    return 750;
+}
+ 
+ 
+void vertex2d(float x, float y, float z){
+ 
+    int pulseX = coord2pulse(x);
+    int pulseY = coord2pulse(y);
+    int pulseZ = coord2pulse(z);
+    servoX.pulsewidth_us(pulseX);
+    servoY.pulsewidth_us(pulseY);
+    servoZ.pulsewidth_us(pulseZ);
+}
+
+
+void maxpos()
+{
+vertex2d(255 ,255,255);
+}  
+  
+  void home()
+{
+    vertex2d(255,255,242);
+    wait_ms(600);
+}    
+
+void punto()
+{
+    xvalue = 100;
+    yvalue = 100;
+    
+    vertex2d(xvalue,yvalue,242);
+    wait_ms(600);
+    vertex2d(xvalue,yvalue,180);
+    wait_ms(600);
+}    
+  
+  void linea()
+{      
+
+    xiline = 250;
+    yiline = 250;
+    xfline = 10;
+    yfline = 10;
+    
+    vertex2d(xiline,yiline,242);
+    wait_ms(600);
+    vertex2d(xiline,yiline,180);
+    wait_ms(600);
+    vertex2d(xfline,yfline,180);
+    wait_ms(600);
+}       
+
+void cuadrado(){
+ 
+ xisquare = 10;
+ yisquare = 10;
+ lenght = 200;
+ 
+ 
+ xlado = lenght + xisquare;
+ ylado = lenght + yisquare;
+ 
+ vertex2d(xisquare,yisquare,242);
+ wait_ms(600);
+ vertex2d(xisquare,yisquare,180);
+ wait_ms(600);
+ vertex2d(xlado,yisquare,180);  
+ wait_ms(600);
+ vertex2d(xlado,ylado,180); 
+ wait_ms(600);
+ vertex2d(xisquare,ylado,180); 
+ wait_ms(600);
+ vertex2d(xisquare,yisquare,180); 
+ wait_ms(600);
+  }
+  
+  
+  void circulo()
+  {
+  double x1=125,x2,y1=125,y2;
+  vertex2d(x1 ,y1,240);
+  wait(2);
+  r=60;
+
+  wait_ms(600);
+ 
+  for (  x2=0;x2<=r;x2++){
+      y2= pow(((r*r)-(x2*x2)),0.5);
+      i=  x2+x1;  
+      j=y1+y2;
+      vertex2d(i ,j,180) ;
+      wait_ms(30);
+      }
+       
+    for (  x2=r;x2>=0;x2--){
+      y2= pow(((r*r)-(x2*x2)),0.5);   
+      i=  x2+x1;  
+      j= y1 - y2;
+      vertex2d(i ,j,180) ;
+      wait_ms(30);
+       }
+  
+  for (  x2=0;x2<=r;x2++){
+      y2= pow(((r*r)-(x2*x2)),0.5);   
+      i=  x1- x2;  
+      j= y1 - y2;
+      vertex2d(i ,j,180) ;
+      wait_ms(30);
+       }
+      
+      
+    for (  x2=r;x2>=0;x2--){
+   y2= pow(((r*r)-(x2*x2)),0.5);   
+      i=  x1-x2;  
+      j=y1+y2;
+      vertex2d(i ,j,180) ;
+      wait_ms(30);
+       }
+    
+   
+     vertex2d(i ,j,240) ;
+     wait_ms(600);
+      
+   if(x2==r)
+   {
+    home();
+    wait(1);
+    }
+     
+  }
+ 
+int main() {
+      
+      while(1) {
+      
+ // configurar periodo
+    servoX.period_ms(20);
+    servoY.period_ms(20);
+    servoZ.period_ms(20);
+    
+     home();  
+     wait(1);
+        
+     if (botonpunto == 1) { 
+     punto();
+     wait(1);
+     }
+     
+     if (botonlinea == 1) { 
+   
+     linea();
+     wait(1);
+     }
+     
+     if (botoncuadrado == 1) { 
+     cuadrado();
+     wait(1);
+     }
+     
+     if (botoncirculo == 1) { 
+     circulo();
+     wait(1);
+     }
+     }
+     }
+