Revision 16:6dd2e60bc5bc, committed 2013-05-20

Comitter:

hiromasaoku

Date:

Mon May 20 08:25:22 2013 +0000

Parent:

15:1d931a305464

Child:

17:dce982e0a383

Commit message:

a safety commit

Changed in this revision

--- a/main.cpp	Mon Apr 08 03:13:15 2013 +0000
+++ b/main.cpp	Mon May 20 08:25:22 2013 +0000
@@ -1,13 +1,15 @@
 #include "mbed.h"
+#include <vector>
+#include "renderclass.h"
 #include "laserProjectorHardware.h"
-#include <vector>
 #define PI 3.141592
 
 InterruptIn clockEncoderPin(p14);
 DigitalIn directionPin(p15);
 
 void processSerial();
-Timer timer_v;
+Timer timer_v;          // for shearing 
+Timer timer;            //for send the speed on the serial port every 30 ms:
 LocalFileSystem local("local");
 //Serial pc(USBTX, USBRX);
 
@@ -28,44 +30,20 @@
 
 bool start=false;
 
-struct point2dl {
-    int x,y;
-    int laserSwitch;   // laser {1: on 0:off} until next step
-};
 
-point2dl shearing(point2dl dataBefore, float velocity, float theta){
-    point2dl dataAfter;
-    dataAfter.x = dataBefore.x + velocity * cos(theta) * timer_v.read_us()/st/1000;   //st is a parameter for ajustment
-    dataAfter.y = dataBefore.y + velocity * sin(theta) * timer_v.read_us()/st/1000; 
-    dataAfter.laserSwitch = dataBefore.laserSwitch;
-    
-    return dataAfter;
-}
+//renderclass----------------------------------------------------------
 
-point2dl rotation(point2dl dataBefore, float theta){
-    sint = sin(theta);
-    cost = cos(theta);
-    point2dl dataAfter;
-    dataAfter.x = sint*dataBefore.x + cost*dataBefore.y;
-    dataAfter.y = -cost*dataBefore.x + sint*dataBefore.y;
-    dataAfter.laserSwitch = dataBefore.laserSwitch;
+vector<letter> alphabet;   // letter library
+vector<letter> myText;
 
-    return dataAfter;
-}
+
 
-struct letter {
-    int pointnum;
-    vector<point2dl> letpoints;
-};
-
-vector<letter> libletter;   // letter library
-
-////for culculate rotary velocit800000000y --------------------------------------------------------
+////for culculate rotary velocity --------------------------------------------------------
 
 volatile float angleIncrement = 2.0*PI / 128; // when in Sign/Magnitude mode
 float radious = 700, attachSecond = 500;
 
-// a ticker function to compute the speed periodically:
+// a ticker function to compute the speed periodically-------------------------------------------------------------
 #define PERIODIC_COMPUTE 10000 // in us
 volatile float angularSpeed = 0;
 volatile float angle=0, oldAngle=0;
@@ -83,7 +61,6 @@
     oldAngle=angle;
 }
    
-Timer timer;
 
 int main(){
     //read from TextFileLibrary ------------------------------------------------------
@@ -105,7 +82,7 @@
             fscanf(fp, "%d", &bufp.laserSwitch);
             bufl.letpoints.push_back(bufp);
         }
-        libletter.push_back(bufl);
+        alphabet.push_back(bufl);
     }
 
 
@@ -115,29 +92,30 @@
     // initialize the angle (arbitrary origin):
     oldAngle=angle=0;
   
-    // Attach the external interrupt routine:
-    //clockEncoderPin.rise(&encoderClock);
-    //clockEncoderPin.fall(&encoderClock);
+    // Attach the external interrupt routine----------------------------------------------------------------------
     superEncoder.attach_us(&encoderClock, attachSecond);
     timer.reset(); timer.start();
     
+    //using renderclass.cpp ----------------------------------------------------------
+    render myRender;
+    myRender.setRender(&myText);
+    myRender.startRender();
+    
     // Attach the periodic computing function:
     speedTimerCompute.attach_us(&computeSpeed, PERIODIC_COMPUTE); 
  
-    // Set displaying laser powers:
+    // Set displaying laser powers--------------------------------------------------------------------------
     IO.setRedPower(0);
     IO.setGreenPower(0);
     wait_ms(100);
-
-    X = beforeX = CENTER_AD_MIRROR_X;
-    Y = beforeY = CENTER_AD_MIRROR_Y;
+    
+    
     timer_v.start();
     // MAIN LOOP: --------------------------------------------------------------------------------------------
     while(1) {
     if (pc.readable()>0) processSerial();
     
     if(1/*start*/) {
-        
         timer_v.reset();
         wait_us(5000);
         // send the speed on the serial port every 30 ms:
@@ -145,44 +123,6 @@
             pc.printf("Angular Speed = %4.2f\t Cumulative Angle = %4.2f\n" , angularSpeed, angle);
             timer.reset();
         }
-        
-        
-        // drawing ///-----------------------------------------------
-        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();
-                
-                point2dl rotated = rotation(libletter[inputletters[i]-'a'].letpoints[j] ,angle);
-                point2dl sheared = shearing(rotated ,radious*angularSpeed, angle);
-                X = CENTER_AD_MIRROR_X + radious * cost;
-                Y = CENTER_AD_MIRROR_Y + radious * sint;
-                IO.writeOutXY(X + rotated.x,Y + rotated.y );
-                
-                /*
-                int x = -0.8*((libletter[inputletters[i]-'a'].letpoints[j].x ) - radious*angularSpeed*timer_v.read_us()/st/1000); //this ZURE should be modifyed not by dt but Timer.
-                int y = (libletter[inputletters[i]-'a'].letpoints[j].y);
-                IO.writeOutXY(X + radious*cost + sint*x + cost*y,Y + radious*sint - cost*x + sint*y);
-                */
-                
-                wait_us(dt);
-                IO.setRedPower(libletter[inputletters[i]-'a'].letpoints[j].laserSwitch);//on
-            }
-            timer_v.reset();
-            IO.setRedPower(0); //off
-            wait_us(dt_betWords);//sqrtf(vx*vx+vy*vy)*100000);
-
-        }
-        ////////////////
-        IO.setRGBPower(1); //off
-        wait_us(10000);
-        start=false;
-        ////////////////////*/
-        }
-        
-        
-
     }
 }
 
@@ -192,9 +132,7 @@
 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()
-{
-
+void processSerial(){
     start=true;
     while(pc.readable()>0) {
 
@@ -205,13 +143,15 @@
             stringData[indexStringData] = val;
             indexStringData++;
         } else if ((val >= 'a') && (val <= 'z')) { // this is 45 to 57 (included)
-            inputletters.push_back(val);
+            myText.push_back(alphabet['a'-1]);
+            //inputletters.push_back(val);
         }
 
         /*else if (val == '/') {
             makeBuffer();
         }*/ else if (val == '.') {
-            inputletters.clear();
+            myText.clear();
+            //inputletters.clear();
         }
 
         else if (val == 'X') {

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/renderclass.cpp	Mon May 20 08:25:22 2013 +0000
@@ -0,0 +1,85 @@
+#include "renderclass.h"
+#include "mbed.h"
+#include "laserProjectorHardware.h"
+#include <vector>
+
+Ticker renderTimer;
+Ticker translationTimer;
+
+//for translating -----------------------------------------------------------------
+
+point2dl shearing(point2dl dataBefore, float velocity, float theta){
+    point2dl dataAfter;
+    dataAfter.x = dataBefore.x ;//+ velocity * cos(theta) * timer_v.read_us()/st/1000;   
+    dataAfter.y = dataBefore.y ;//+ velocity * sin(theta) * timer_v.read_us()/st/1000; 
+    dataAfter.laserSwitch = dataBefore.laserSwitch;
+    
+    return dataAfter;
+}
+
+point2dl rotation(point2dl dataBefore, float theta){
+    point2dl dataAfter;
+    dataAfter.x = cos(theta)*dataBefore.x - sin(theta)*dataBefore.y;
+    dataAfter.y = sin(theta)*dataBefore.x + cos(theta)*dataBefore.y;
+    dataAfter.laserSwitch = dataBefore.laserSwitch;
+
+    return dataAfter;
+}
+//----------------------------------------------------------------------------------
+
+void render::startRender(){
+    //void (render::*fpdraw)() = draw;                  // I can't solve the error.......I tried a few days.......... 
+    //renderTimer.attach_us((this->*fpdraw)(), 200);   //  ???????how to set menber function???????
+}
+
+void render::stopRender(){
+    renderTimer.detach();
+}
+
+void render::setRender(vector<letter> *p){
+    ptext = p;
+    
+    //for(int i=0; i!=(*ptext).size(); i++){
+    for(std::vector<letter>::iterator itr = (*ptext).begin(); itr != (*ptext).end(); ++itr){
+        translated.push_back(*itr);
+    }                                            //copy the liblary to the buffer.
+}
+
+void render::draw(){
+    drawPoint.x = translated[currentLetters].letpoints[currentPoints].x;
+    drawPoint.y = translated[currentLetters].letpoints[currentPoints].y;
+    drawPoint.laserSwitch = translated[currentLetters].letpoints[currentPoints].laserSwitch;
+    IO.writeOutXY(drawPoint.x , drawPoint.y);
+    IO.setRedPower(translated[currentLetters].letpoints[currentPoints].laserSwitch);
+    
+    
+    currentPoints++;
+    if(currentPoints > translated[currentLetters].letpoints.size() ){
+        currentLetters++;
+        currentPoints = 0;
+    }
+    if(currentLetters > translated.size()){
+        currentLetters = 0;
+        currentPoints = 0;
+    }
+
+}
+
+void render::translating(float speed, float angle){ //DO when get the speed and angle data.
+    for (int i = 0; i > 10;  i++){
+        int j=0;
+        if(currentPoints + j > (*ptext)[currentLetters].letpoints.size()){
+            currentPoints = 0;
+            currentLetters++;
+            j=0;
+        }
+        if(currentLetters > (*ptext).size()) break; 
+        
+        point2dl bufferRotate = rotation((*ptext)[currentLetters].letpoints[currentPoints],angle);
+        point2dl bufferShear = shearing(bufferRotate, speed, angle);
+    
+        translated[currentLetters].letpoints[currentPoints] = bufferShear;
+    
+        j++;
+    }
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/renderclass.h	Mon May 20 08:25:22 2013 +0000
@@ -0,0 +1,27 @@
+#include "mbed.h"
+#include <vector>
+
+struct point2dl {
+    int x,y;
+    int laserSwitch;   // laser {1: on 0:off} until next step
+};
+
+struct letter {
+    int pointnum;
+    vector<point2dl> letpoints;
+};
+
+class render{
+    public:
+    void startRender();
+    void setRender(vector<letter> *p);
+    void translating(float speed, float angle);
+    void stopRender();
+    void draw();
+    private:
+    vector<letter> *ptext;
+    vector<letter> translated;
+    int currentLetters;
+    int currentPoints;
+    point2dl drawPoint;
+};
\ No newline at end of file