Takashi Asano / Mbed 2 deprecated linearMirrorMotion1017

sotsuron

Fork of linearMirrorMotion1017 by Hiromasa Oku

renderclass.cpp@25:423050363215, 2013-07-03 (annotated)

Committer:
takapiasano
Date:
Wed Jul 03 07:43:48 2013 +0000
Revision:
25:423050363215
Parent:
24:ab74d2018e6c
Child:
26:74ecbf9985e1
Tenmetsu for Saccade mirror

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hiromasaoku 16:6dd2e60bc5bc 1 #include "renderclass.h"
hiromasaoku 16:6dd2e60bc5bc 2 #include "mbed.h"
hiromasaoku 16:6dd2e60bc5bc 3 #include "laserProjectorHardware.h"
hiromasaoku 16:6dd2e60bc5bc 4 #include <vector>
hiromasaoku 16:6dd2e60bc5bc 5
hiromasaoku 16:6dd2e60bc5bc 6 Ticker translationTimer;
hiromasaoku 16:6dd2e60bc5bc 7
hiromasaoku 16:6dd2e60bc5bc 8 //for translating -----------------------------------------------------------------
hiromasaoku 16:6dd2e60bc5bc 9
hiromasaoku 18:6f86abfae754 10 inline void render::shearing(point2dl& dataBefore)
hiromasaoku 18:6f86abfae754 11 {
takapiasano 25:423050363215 12 dataBefore.x = dataBefore.x/4.0 - vx * speedTimer.read_us()/100; //2000000;//dataBefore.x - speed *speedTimer.read_us()/1000000 ;//- speed * cos(angle+PI/2)*speedTimer.read_us()/800;
takapiasano 25:423050363215 13 dataBefore.y = dataBefore.y/4.0 - vy * speedTimer.read_us()/2000000;//dataBefore.y ;//- speed * sin(angle+PI/2)*speedTimer.read_us()/800;
hiromasaoku 16:6dd2e60bc5bc 14 }
hiromasaoku 16:6dd2e60bc5bc 15
hiromasaoku 18:6f86abfae754 16 inline void render::rotation(point2dl& dataBefore)
hiromasaoku 18:6f86abfae754 17 {
hiromasaoku 18:6f86abfae754 18 int x=dataBefore.x;
takapiasano 25:423050363215 19 dataBefore.x = x;//x + abs((int)angle) % (2 * (CENTER_AD_MIRROR_X-200)) - CENTER_AD_MIRROR_X+200;//x + (CENTER_AD_MIRROR_X-200) * cos(angle);//radious * cos(angle) + sin(angle)*x - cos(angle)*dataBefore.y;//
takapiasano 22:e86d63dfbbe1 20 dataBefore.y = -dataBefore.y;//radious * sin(angle) - cos(angle)*x - sin(angle)*dataBefore.y;//
takapiasano 24:ab74d2018e6c 21
hiromasaoku 16:6dd2e60bc5bc 22 }
hiromasaoku 16:6dd2e60bc5bc 23 //----------------------------------------------------------------------------------
hiromasaoku 16:6dd2e60bc5bc 24
hiromasaoku 18:6f86abfae754 25 void render::startRender()
hiromasaoku 18:6f86abfae754 26 {
hiromasaoku 20:8475768fc2f7 27 speedTimer.start();
hiromasaoku 19:8e9fe7d25b9c 28 renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
hiromasaoku 19:8e9fe7d25b9c 29 pc.printf("render started!\n");
hiromasaoku 16:6dd2e60bc5bc 30 }
hiromasaoku 16:6dd2e60bc5bc 31
hiromasaoku 18:6f86abfae754 32 void render::stopRender()
hiromasaoku 18:6f86abfae754 33 {
hiromasaoku 16:6dd2e60bc5bc 34 renderTimer.detach();
takapiasano 24:ab74d2018e6c 35 speedTimer.stop();
hiromasaoku 16:6dd2e60bc5bc 36 }
hiromasaoku 16:6dd2e60bc5bc 37
hiromasaoku 18:6f86abfae754 38 void render::setRender(vector<letter> *p)
hiromasaoku 18:6f86abfae754 39 {
takapiasano 24:ab74d2018e6c 40 translated.clear();
takapiasano 24:ab74d2018e6c 41
hiromasaoku 16:6dd2e60bc5bc 42 ptext = p;
hiromasaoku 19:8e9fe7d25b9c 43 pc.printf("Size of text to render: %d/n", (*ptext).size() );
hiromasaoku 16:6dd2e60bc5bc 44 //for(int i=0; i!=(*ptext).size(); i++){
takapiasano 24:ab74d2018e6c 45 int count=0;
hiromasaoku 18:6f86abfae754 46 for(std::vector<letter>::iterator itr = (*ptext).begin(); itr != (*ptext).end(); ++itr) {
takapiasano 24:ab74d2018e6c 47 letter translatedLetter;
takapiasano 24:ab74d2018e6c 48 for(int i=0; i<(*itr).letpoints.size(); i++) {
takapiasano 24:ab74d2018e6c 49 point2dl tranPoint;
takapiasano 24:ab74d2018e6c 50 tranPoint.x=itr->letpoints[i].x+560*count;
takapiasano 24:ab74d2018e6c 51 tranPoint.y=itr->letpoints[i].y;
takapiasano 24:ab74d2018e6c 52 tranPoint.laserSwitch=itr->letpoints[i].laserSwitch;
takapiasano 24:ab74d2018e6c 53 translatedLetter.letpoints.push_back(tranPoint);
takapiasano 24:ab74d2018e6c 54
hiromasaoku 16:6dd2e60bc5bc 55 } //copy the liblary to the buffer.
takapiasano 24:ab74d2018e6c 56 translated.push_back(translatedLetter);
takapiasano 24:ab74d2018e6c 57 count++;
takapiasano 24:ab74d2018e6c 58 }
takapiasano 21:4095a071724d 59
takapiasano 24:ab74d2018e6c 60 shearingSwitch = 1;
takapiasano 24:ab74d2018e6c 61 radious = 1800;
takapiasano 21:4095a071724d 62
hiromasaoku 18:6f86abfae754 63 currentLetters=0;
takapiasano 24:ab74d2018e6c 64
takapiasano 24:ab74d2018e6c 65 firstPointCounter=0;
takapiasano 24:ab74d2018e6c 66 lastPointCounter=0;
takapiasano 24:ab74d2018e6c 67
takapiasano 24:ab74d2018e6c 68 rendererState=FIRST_POINT;
hiromasaoku 16:6dd2e60bc5bc 69 }
hiromasaoku 16:6dd2e60bc5bc 70
hiromasaoku 18:6f86abfae754 71
takapiasano 22:e86d63dfbbe1 72 void render::updateSpeed(float gspeed, float gangle, float vvx, float vvy)
takapiasano 21:4095a071724d 73 {
hiromasaoku 19:8e9fe7d25b9c 74 speed = gspeed;
hiromasaoku 19:8e9fe7d25b9c 75 angle = gangle;
takapiasano 21:4095a071724d 76
takapiasano 22:e86d63dfbbe1 77 vx = vvx;//gspeed * radious * cos(angle+PI/2);
takapiasano 22:e86d63dfbbe1 78 vy = vvy;//gspeed * radious * sin(angle+PI/2);
takapiasano 22:e86d63dfbbe1 79
takapiasano 22:e86d63dfbbe1 80
hiromasaoku 19:8e9fe7d25b9c 81 //speed=sqrt(vx*vx+vy*vy);//*factorSpeed;
hiromasaoku 19:8e9fe7d25b9c 82 //angle=atan2(vy,vx);
hiromasaoku 18:6f86abfae754 83 }
hiromasaoku 20:8475768fc2f7 84
hiromasaoku 18:6f86abfae754 85 void render::draw()
hiromasaoku 18:6f86abfae754 86 {
takapiasano 25:423050363215 87 if(firstPointCounter == 0){
takapiasano 25:423050363215 88 if(laserColor % 2 == 0) IO.setRedPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
takapiasano 25:423050363215 89 if(laserColor % 3 == 0) IO.setGreenPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
takapiasano 25:423050363215 90 firstPointCounter = 1;
takapiasano 25:423050363215 91 }
takapiasano 25:423050363215 92 else{
takapiasano 25:423050363215 93
takapiasano 25:423050363215 94 IO.setRedPower(0);
takapiasano 25:423050363215 95 IO.setGreenPower(0);
takapiasano 25:423050363215 96 firstPointCounter = 0
takapiasano 25:423050363215 97 }
takapiasano 25:423050363215 98
takapiasano 25:423050363215 99
takapiasano 25:423050363215 100 /*
takapiasano 21:4095a071724d 101 if(translated.size()>0) {
takapiasano 24:ab74d2018e6c 102
takapiasano 24:ab74d2018e6c 103 switch(rendererState) {
takapiasano 24:ab74d2018e6c 104
takapiasano 24:ab74d2018e6c 105 case NORMAL_POINT:
takapiasano 24:ab74d2018e6c 106 point2dl drawPoint=translated[currentLetters].letpoints[currentPoints];
takapiasano 24:ab74d2018e6c 107 transform(drawPoint); // transform it with the current speed and angle
takapiasano 24:ab74d2018e6c 108 IO.writeOutXY(CENTER_AD_MIRROR_X + (int)drawPoint.x , CENTER_AD_MIRROR_Y + (int)drawPoint.y);
takapiasano 25:423050363215 109 if(laserColor % 2 == 0) IO.setRedPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
takapiasano 25:423050363215 110 if(laserColor % 3 == 0) IO.setGreenPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
takapiasano 21:4095a071724d 111
takapiasano 24:ab74d2018e6c 112 // move to the next point
takapiasano 24:ab74d2018e6c 113 currentPoints++;
takapiasano 24:ab74d2018e6c 114
takapiasano 24:ab74d2018e6c 115 //Should we change the state?
takapiasano 24:ab74d2018e6c 116 if(currentPoints >= translated[currentLetters].letpoints.size() ) {
takapiasano 24:ab74d2018e6c 117 rendererState=AFTER_LAST_POINT;
takapiasano 24:ab74d2018e6c 118 }
takapiasano 24:ab74d2018e6c 119 break;
hiromasaoku 18:6f86abfae754 120
takapiasano 24:ab74d2018e6c 121 case AFTER_LAST_POINT:
takapiasano 24:ab74d2018e6c 122 // just wait!
takapiasano 24:ab74d2018e6c 123 if (lastPointCounter<WAITING_LAST) {
takapiasano 24:ab74d2018e6c 124 IO.setRedPower(0);
takapiasano 25:423050363215 125 IO.setGreenPower(0);
takapiasano 24:ab74d2018e6c 126 lastPointCounter++;
takapiasano 24:ab74d2018e6c 127 }
takapiasano 24:ab74d2018e6c 128 else {
takapiasano 24:ab74d2018e6c 129 lastPointCounter=0;
takapiasano 24:ab74d2018e6c 130 currentPoints = 0;
takapiasano 24:ab74d2018e6c 131 // switch the laser off and move to the first point of the next letter:
takapiasano 24:ab74d2018e6c 132
takapiasano 24:ab74d2018e6c 133 currentLetters++;
takapiasano 24:ab74d2018e6c 134 if(currentLetters >= translated.size()) {
takapiasano 24:ab74d2018e6c 135 currentLetters = 0;
takapiasano 24:ab74d2018e6c 136 speedTimer.reset();
takapiasano 24:ab74d2018e6c 137 }
takapiasano 24:ab74d2018e6c 138 rendererState=FIRST_POINT;
takapiasano 24:ab74d2018e6c 139 }
takapiasano 24:ab74d2018e6c 140 break;
takapiasano 24:ab74d2018e6c 141
takapiasano 24:ab74d2018e6c 142 case FIRST_POINT:
takapiasano 24:ab74d2018e6c 143 if (firstPointCounter<WAITING_FIRST) {
takapiasano 24:ab74d2018e6c 144 firstPointCounter++;
takapiasano 24:ab74d2018e6c 145
takapiasano 24:ab74d2018e6c 146 // show first point!
takapiasano 24:ab74d2018e6c 147 point2dl drawPoint=translated[currentLetters].letpoints[0];
takapiasano 24:ab74d2018e6c 148 transform(drawPoint); // transform it with the current speed and angle
takapiasano 24:ab74d2018e6c 149 IO.writeOutXY(CENTER_AD_MIRROR_X + (int)drawPoint.x , CENTER_AD_MIRROR_Y + (int)drawPoint.y);
takapiasano 24:ab74d2018e6c 150 //IO.setRedPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
takapiasano 24:ab74d2018e6c 151
takapiasano 24:ab74d2018e6c 152 } else {
takapiasano 24:ab74d2018e6c 153 firstPointCounter=0;
takapiasano 24:ab74d2018e6c 154 currentPoints=1;
takapiasano 24:ab74d2018e6c 155 rendererState=NORMAL_POINT;
takapiasano 24:ab74d2018e6c 156 }
takapiasano 24:ab74d2018e6c 157 break;
takapiasano 24:ab74d2018e6c 158 }
hiromasaoku 20:8475768fc2f7 159 }
takapiasano 25:423050363215 160 */
takapiasano 25:423050363215 161 }
hiromasaoku 18:6f86abfae754 162
takapiasano 24:ab74d2018e6c 163 void render::transform(point2dl& mypoint) {
takapiasano 24:ab74d2018e6c 164 rotation(mypoint);
takapiasano 24:ab74d2018e6c 165 if(shearingSwitch == 1) shearing(mypoint);
takapiasano 25:423050363215 166 }
hiromasaoku 16:6dd2e60bc5bc 167