File content as of revision 7:64b313c58420:

/*
~~~~~~present status~~~~~~
    * X Y data from sereal.  vx and vy are culculated like -> (new X,Y) - (previous X,Y) / timer
        --  i don't know how to send data quickly
    
    now I'm fighting to other problems...
*/


#include "mbed.h"
#include "laserProjectorHardware.h"
#include <vector>
#define PI 3.141592

Ticker changeXY;

void processSerial();
Timer timer;
LocalFileSystem local("local");
//Serial pc(USBTX, USBRX);

unsigned int X, Y, T;   // these datas are from other tracking system... 
unsigned int beforeX , beforeY;
int startX = CENTER_AD_MIRROR_X;
int startY = CENTER_AD_MIRROR_Y;

float sint=0, cost=1;
          
float vx = 0, vy=0;//omegaX=0, omegaY=0; 
float theta=0, dt_betwords=200, st=400, radious=1500;
unsigned int dt=500, timecounter = 0, ticktime=600;

bool newPositionReady=false;
unsigned int counter=0;
vector<char> inputletters;

bool start=false;

struct point2d {
    int x,y;
};
struct letter {
    int pointnum;
    vector<point2d> letpoints;
};

//int points[200][2] = {};
vector<letter> libletter;   // letter library

vector<int> buf;                            //buffer vector
vector<int> buf2;

/*void makeBuffer()
{
    float sint = sin(theta);
    float cost = cos(theta);

    startX = CENTER_AD_MIRROR_X;
    startY = CENTER_AD_MIRROR_Y;

    buf.clear();
/*conversion points to buf before writing;
    for(int i=0; i<inputletters.size(); i++) {
        
        buf.push_back(222);
        buf.push_back(222);
        
        for(int j=0; j<libletter[inputletters[i]-'a'].letpoints.size(); j++) {
            int x = 0.8*dt_betwords/1000*(libletter[inputletters[i]-'a'].letpoints[j].x +500*(i-inputletters.size()/2.0));
            int y = -dt_betwords/1000*(libletter[inputletters[i]-'a'].letpoints[j].y);
            buf.push_back(x);
            buf.push_back(y);
        }
    }

}
*/

void CircleXY(){
    X = CENTER_AD_MIRROR_X + radious * cos(2*PI*(float)timecounter/(float)ticktime);
    Y = CENTER_AD_MIRROR_X + radious * sin(2*PI*(float)timecounter/(float)ticktime);
    vx = radious * (float)PI * (-sin(2*PI*(float)timecounter/(float)ticktime));
    vy = radious * (float)PI * cos(2*PI*(float)timecounter/(float)ticktime);
    theta = atan2(vy,vx);
    cost = -cos(theta);
    sint = -sin(theta);
    timecounter ++;
}

int main(){

    FILE *fp = fopen("/local/test.txt", "r");
    if(!fp) {
        IO.setGreenPower(1);
        exit(1);
    }
    int letternum;
    fscanf(fp, "%d", &letternum);
    for(int i=0; i<letternum; i++) {
        letter bufl;
        fscanf(fp, "%d", &bufl.pointnum);
        for(int j=0; j<bufl.pointnum; j++) {
            point2d bufp;
            fscanf(fp, "%d", &bufp.x);
            fscanf(fp, "%d", &bufp.y);
            bufl.letpoints.push_back(bufp);
        }
        libletter.push_back(bufl);
    }


    //makeBuffer();

    // SETUP: --------------------------------------------------------------------------------------------
    IO.init(); // note: serial speed can be changed by checking in the hardwareIO.cpp initialization

    // Set displaying laser powers:
    IO.setRedPower(0);
    IO.setGreenPower(0);//turn on the green (displaying) laser

    wait_ms(100);

    X = beforeX = CENTER_AD_MIRROR_X;
    Y = beforeY = CENTER_AD_MIRROR_Y;
    timer.start();
    changeXY.attach_us(&CircleXY, 200);
    // MAIN LOOP: --------------------------------------------------------------------------------------------
    while(1) {
    if (pc.readable()>0) processSerial();
    
    if(start) {
        timer.reset();
        wait_us(5000);
        for(int i=0; i<inputletters.size(); i++) {
    
            
            for(int j=0; j<libletter[inputletters[i]-'a'].letpoints.size(); j++) {
                if (pc.readable()>0) processSerial();
                
                int x = -0.8*((libletter[inputletters[i]-'a'].letpoints[j].x ) - sqrtf(vx*vx+vy*vy)*timer.read_us()/st*j/100); //this ZURE should be modifyed not by dt but Timer.
                int y = (libletter[inputletters[i]-'a'].letpoints[j].y);
                IO.writeOutXY(X+cost*x - sint*y,Y + sint*x + cost*y);
                timer.reset();
                wait_us(dt);
                IO.setRGBPower(3);//on
            }
            IO.setRGBPower(1); //off
            wait_us(dt_betwords/sqrtf(vx*vx+vy*vy)*100000);

        }
        
        IO.setRGBPower(1); //off
        wait_us(10000);
        start=false;
        
        }
        
        /*for(int j=0; j<buf.size()/2; j++) {
            if ( (buf[j*2] == 222) && (buf[j*2+1] == 222)){
                IO.setRGBPower(1);
                int xx=buf[j*2+2]- vx*dt/1000*j;
                int yy=buf[j*2+3];//- vy*dt/1000*j;
                IO.writeOutXY(startX+cost*xx + sint*yy,startY-sint*xx + cost*yy);
                wait(0.0004);
                IO.setRGBPower(0);
            }
            else{
            timer.start();
            int xx=buf[j*2]- vx*dt/1000*j;
            int yy=buf[j*2+1];//- vy*dt/1000*j;
            IO.writeOutXY(startX+cost*xx + sint*yy,startY-sint*xx + cost*yy);
            wait_us(dt);
            IO.setRGBPower(0); //on
            timer.stop();
            //dt=timer.read();
            }
            
            timecounter += dt;
            if(timecounter >= T) timecounter = 0; 
        }*/
        //buf2.clear();
        //wait(0.02);

    }
}


// --------------------------------------------------------------------------------------------
// String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
char stringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int...
int indexStringData=0;//position of the byte in the string

void processSerial()
{

    start=true;
    while(pc.readable()>0) {

        char val =pc.getc();

        // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
        if ((val >= '0') && (val <= '9')) { // this is 45 to 57 (included)
            stringData[indexStringData] = val;
            indexStringData++;
        } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
            inputletters.push_back(val);
        }

        /*else if (val == '/') {
            makeBuffer();
        }*/ else if (val == '.') {
            inputletters.clear();
        }

        else if (val == 'X') {
            beforeX = X;
            stringData[indexStringData] = 0;
            X = atoi(stringData);
            indexStringData=0;
            vx = ((float)X-(float)beforeX) / (float)timer.read_us() *1000;
        }

        else if (val == 'Y') {
            beforeY = Y;
            stringData[indexStringData] = 0;
            Y = atoi(stringData);
            indexStringData=0;
            //timer.stop();
            //newSpeedReady = true;
            //if( (Y-beforeY) > 5){ 
            vy = ((float)Y-(float)beforeY) / (float)timer.read_us() *1000;
            theta=atan2(vy,vx);
            timer.reset();
            timer.start();
            sint = -sin(theta);//cos(theta);
            cost = -cos(theta);//-sin(theta);  
            //}
            //if (cost > 0){
            //sint = -sint;//cos(thet      
            //cost = -cost;//-sin(theta);  
            //}
        }

        else if (val == 'D') {
            stringData[indexStringData] = 0;
            dt = atoi(stringData);
            indexStringData=0;
            //makeBuffer();
        } else if (val == 'B') {
            stringData[indexStringData] = 0;
            dt_betwords = atoi(stringData);
            indexStringData=0;
            //makeBuffer();
        } else if (val == 'S') {
            stringData[indexStringData] = 0;
            st = atoi(stringData);
            indexStringData=0;
            //makeBuffer();
        }else if (val == 'R') {
            stringData[indexStringData] = 0;
            radious = atoi(stringData);
            indexStringData=0;
            //makeBuffer();
        } else if (val == 'T') {
            stringData[indexStringData] = 0;
            ticktime = atoi(stringData);
            indexStringData=0;
            //makeBuffer();
        } 
        // X value?
        /*else if (val=='x') {
            stringData[indexStringData] = 0 ;
            omegaX=atoi(stringData);
            indexStringData=0;
            //newPositionReady=true;
        }
        // Y value?
        else if (val=='y') {
            stringData[indexStringData] = 0 ;
            omegaY=atoi(stringData);
            indexStringData=0;
            makeBuffer();
            newPositionReady=true;
        }

        else if (val=='g') {
            stringData[indexStringData] = 0 ;
            int power=atoi(stringData);
            indexStringData=0;
            IO.setGreenPower(power);
        } else if (val=='r') {
            stringData[indexStringData] = 0 ;
            int power=atoi(stringData);
            indexStringData=0;
            IO.setRedPower(power);
        } else if (val=='c') {
            stringData[indexStringData] = 0 ;
            int power=atoi(stringData);
            indexStringData=0;
            IO.setRGBPower(power);
        }
        */

   }
}