Revision 22:e86d63dfbbe1, committed 2013-06-28

Comitter:

takapiasano

Date:

Fri Jun 28 02:30:51 2013 +0000

Parent:

21:4095a071724d

Child:

23:ce375ac0ddfe

Child:

24:ab74d2018e6c

Commit message:

horizontal demo

Changed in this revision

--- a/main.cpp	Fri Jun 07 05:01:40 2013 +0000
+++ b/main.cpp	Fri Jun 28 02:30:51 2013 +0000
@@ -50,10 +50,10 @@
 
 ////for culculate rotary velocity --------------------------------------------------------
 int radious = 700, attachSecond = 500;
-/*volatile float*/int  angleIncrement = 1 ;//2.0*PI / 2500; // when in Sign/Magnitude mode
+/*volatile float*/ int  angleIncrement = 1;//2.0*PI / 2500;// when in Sign/Magnitude mode
 
 // a ticker function to compute the speed periodically-------------------------------------------------------------
-#define PERIODIC_COMPUTE 10000 // in us
+#define PERIODIC_COMPUTE 5000 // in us
 volatile float angularSpeed = 0;
 /*volatile float*/ int angle=0, oldAngle=0;
 Ticker speedTimerCompute;
@@ -72,9 +72,8 @@
     float oldspeed = angularSpeed;
     angularSpeed = ( 1000000.0 * (float)(angle-oldAngle) / (float)(PERIODIC_COMPUTE) + oldspeed )/ 2.0; // in rad/sec
     oldAngle=angle;
-    myRender.updateSpeed(angularSpeed,angle);
+    myRender.updateSpeed(angularSpeed,angle, ((directionPin)-0.5)*2*angleIncrement*100.0/attachSecond, 0);
     void processSerial();
-    
 }
 
 
@@ -184,7 +183,7 @@
                 //if( (Y-beforeY) > 5){
                 //vy = ((float)Y-(float)beforeY) / (float)timer_v.read_us() *1000;
                 
-                myRender.updateSpeed(vx, vy);
+                //myRender.updateSpeed(vx, vy);
                 
                
             }

--- a/renderclass.cpp	Fri Jun 07 05:01:40 2013 +0000
+++ b/renderclass.cpp	Fri Jun 28 02:30:51 2013 +0000
@@ -9,15 +9,15 @@
 
 inline void render::shearing(point2dl& dataBefore)
 {
-    dataBefore.x = dataBefore.x - speed *speedTimer.read_us()/1000000 ;//- speed * cos(angle+PI/2)*speedTimer.read_us()/800;
-    dataBefore.y = dataBefore.y ;//- speed * sin(angle+PI/2)*speedTimer.read_us()/800;
+    dataBefore.x = dataBefore.x - vx * speedTimer.read_us()/100; //2000000;//dataBefore.x - speed *speedTimer.read_us()/1000000 ;//- speed * cos(angle+PI/2)*speedTimer.read_us()/800;
+    dataBefore.y = dataBefore.y - vy * speedTimer.read_us()/2000000;//dataBefore.y ;//- speed * sin(angle+PI/2)*speedTimer.read_us()/800;
 }
 
 inline void render::rotation(point2dl& dataBefore)
 {
     int x=dataBefore.x;
-    dataBefore.x = x + (int)angle % (2 * CENTER_AD_MIRROR_X) + CENTER_AD_MIRROR_X;//1800 * cos(angle) + sin(angle)*x - cos(angle)*dataBefore.y;
-    dataBefore.y = -dataBefore.y;//1800 * sin(angle) - cos(angle)*x - sin(angle)*dataBefore.y;
+    dataBefore.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;//
+    dataBefore.y = -dataBefore.y;//radious * sin(angle) - cos(angle)*x - sin(angle)*dataBefore.y;//
     
 }
 //----------------------------------------------------------------------------------
@@ -50,15 +50,19 @@
     currentLetters=0;
     currentPoints=0;
     shearingSwitch = 1;
-
+    radious = 1800;
 }
 
 
-void render::updateSpeed(float gspeed, float gangle)
+void render::updateSpeed(float gspeed, float gangle, float vvx, float vvy)
 {
     speed = gspeed;
     angle = gangle;
 
+    vx = vvx;//gspeed * radious * cos(angle+PI/2);
+    vy = vvy;//gspeed * radious * sin(angle+PI/2);
+
+
     //speed=sqrt(vx*vx+vy*vy);//*factorSpeed;
     //angle=atan2(vy,vx);
 }
@@ -70,6 +74,8 @@
         transform(drawPoint);               // transform it with the current speed and angle
         IO.writeOutXY(CENTER_AD_MIRROR_X + (int)drawPoint.x , CENTER_AD_MIRROR_Y + (int)drawPoint.y);
         
+        
+        
         ////laser switch
         if(currentPoints>0) IO.setRedPower(translated[currentLetters].letpoints[currentPoints-1].laserSwitch);
         else                IO.setRedPower(0);
@@ -92,14 +98,12 @@
         if(currentLetters >= translated.size()) {
             currentLetters = 0;
             currentPoints = 0;
-            renderTimer.detach();
+            //renderTimer.detach();
             //wait_us(RENDER_INTERVAL);
             IO.setRedPower(0);
             //wait_us(RENDER_INTERVAL*20);
-            renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
+            //renderTimer.attach_us(this, &render::draw,RENDER_INTERVAL);
             speedTimer.reset();
-            
-            //stopcounter = -200;
         }
     }
 }

--- a/renderclass.h	Fri Jun 07 05:01:40 2013 +0000
+++ b/renderclass.h	Fri Jun 28 02:30:51 2013 +0000
@@ -24,7 +24,7 @@
     void transform(point2dl& mypoint);
     void shearing(point2dl& dataBefore);
     void rotation(point2dl& dataBefore);
-    void updateSpeed(float vx, float vy);
+    void updateSpeed(float gspeed, float gangle, float vvx, float vvy);
 
     int shearingSwitch;
     
@@ -40,5 +40,8 @@
     
     float speed;
     float angle;
+    float vx;
+    float vy;
+    int radious;
     
 };
\ No newline at end of file