w mx
/
wmx_arm_scara
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Dependencies: MQTT SDFileSystem WIZnet_Library mbed
Fork of
wmx_arm_communication
by 
w mx
Revision 9:a3f9faa9ca1f, committed 2018-07-31
- Comitter:
- xmwmx
- Date:
- Tue Jul 31 03:56:05 2018 +0000
- Parent:
- 8:e76bebe9c45f
- Child:
- 10:acc53f50c9df
- Commit message:
- ??x?y??????????????0?0?1????
Changed in this revision
| mainwmx.cpp | Show annotated file Show diff for this revision Revisions of this file |
| networking.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/mainwmx.cpp Fri Jul 27 10:19:40 2018 +0000
+++ b/mainwmx.cpp Tue Jul 31 03:56:05 2018 +0000
@@ -13,14 +13,16 @@
#include <stdlib.h>
#include "SDFileSystem.h"
#include "networking.h"
+//#include <string>
+
-#define edgex1 30 // 上x(正朝向开关)下y(负朝向开关)
-#define edgex2 125 // __
-#define edgey1 90 // ||
-#define edgey2 150 // 115mm y2
-#define widthx 95 // x2 || x1
-#define widthy 60 // //=====190mm====//30mm/|开关
+#define edgex1 125 // 上x(正朝向开关)下y(负朝向开关)
+#define edgex2 155 // __
+#define edgey1 70 // ||
+#define edgey2 100 // 125mm y2
+#define widthx 30 // x2 || x1
+#define widthy 30 // //=====210mm====//35mm/|开关
#define mm 100//100步1mm // ||
// ||
// ||
@@ -62,7 +64,7 @@
//与实际有关参数
float Lenoflattice = 1 ;//mm 取1mm为xy单元 unit_xy/Lenoflattice=100
-int unit_xy = 200; //单位长度(xy移动一格)对应unit_xy转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
+int unit_xy = 100; //单位长度(xy移动一格)对应unit_xy转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
int unit_x = 103; //单位长度(xy移动一格)对应unit_x转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
int unit_y = 103; //单位长度(xy移动一格)对应unit_y转 大约10cm/3圈/9600step 约96mm/9600step=0.1mm/10step
///Ticker ticker_step;
@@ -77,12 +79,14 @@
double y=0;//图片y边长
double x=0;//图片x边长
int key=0;//判断变量
+int dot=0;//点计数
+int flag=0;
+//char w[4294967295];
void rotate(int id ,int pix);
-
void biginning()
{
pc.printf("x\n"); // 上x(正朝向开关)下y(负朝向开关)
@@ -97,7 +101,14 @@
rotate(1,-5); // __ y1
} //
rotate(1,mm*edgey1); // __ 开关 15mm
-
+ //定位
+ for (int i = 0; i < 500; i++)
+ {
+ switch_GS = 1;
+ wait(0.005);
+ switch_GS = 0;
+ wait(0.005);
+ }
//走轮廓
rotate(0,mm*widthx);
rotate(1,mm*widthy);
@@ -197,7 +208,7 @@
pc.printf("reading\r\n");
for (int i = 0; fscanf(fp_drawing, "(%f,%f,%f)", &x, &y, &v) == 3; i++)
{
- pc.printf("(%f,%f,%f)\r\n", x, y, v);
+ pc.printf("(%f,%f,%f)|%d|%d\r\n", x, y, v,i,dot);
moveto(x, y);
markdot(v);
// moveto(thedata[i][0],thedata[i][1]);
@@ -209,10 +220,16 @@
void on_control_cmd(const char* actuator_name, const char* control_value)
{
//pc.printf("Received [%s] [%s]\r\n", actuator_name, control_value);
- if (strcmp(actuator_name, "dat") == 0&&status==3) {
+ if (strcmp(actuator_name, "dat") == 0) {
//接受到的坐标数据写入存储卡
- //pc.printf("Received yes\n");
+ //fprintf(fp_drawing, "%s", control_value);
fprintf(fp_drawing, "%s", control_value);
+ dot++;
+ if(strcmp(control_value, "(0,0,1)") == 0)
+ {
+ flag=1;
+ pc.printf("received (0,0,1) %d|%d\r\n",status,dot);
+ }
}
else if (strcmp(actuator_name, "cmd") == 0) {
int the_command = atoi(control_value);
@@ -226,7 +243,7 @@
}
if (key==2) {
x=the_command;
- pc.printf("Received x %f\n",y);
+ pc.printf("Received x %f\n",x);
}
if (key==3) {
@@ -245,9 +262,9 @@
Getdata = 1;
pc.printf("Received Getdata %d\n",Getdata);
}
- else if (the_command == 3&&status==2&&key==0) {//传k
+ /*else if (the_command == 3&&status==2&&key==0) {//传k
key=1;
- }
+ }*/
else if (the_command == 4&&status==2&&key==0) {//传x
key=2;
}
@@ -298,33 +315,43 @@
Getawork = 0;
Getdata = 0;
- publish_value(client, "report", "input x:");
- client.yield(5000);
- publish_value(client, "report", "input y:");
- client.yield(5000);
-
- pc.printf("input k:\r\n");
- publish_value(client, "report", "input k:");
- wait(1);
- int i=10;
- while(y*k>widthy||i>0)
- {
- pc.printf("no%f|%f|%f|%d\r\n",y,k,y*k,i);
- client.yield(1000);
- i--;
- }
- pc.printf("yes%f|%f|%f\r\n",y,k,y*k);
- pc.printf("ready.\r\n");
+ //pc.printf("yes%f|%f|%f\r\n",y,k,y*k);
+ //pc.printf("ready.\r\n");
pc.printf("biginning\r\n");
biginning();
pc.printf("finish\r\n");
+ //draw();
+
while (true)
{
+ if(x==0||y==0&&status==2)
+ {
+ while(x==0&&status==2)
+ {
+ pc.printf("waiting x\r\n");
+ publish_value(client, "report", "input x:");
+ client.yield(5000);
+ }
+ while(y==0&&status==2)
+ {
+ pc.printf("waiting y\r\n");
+ publish_value(client, "report", "input y:");
+ client.yield(5000);
+ }
+ publish_value(client, "report", "ready.");
+ }
+ while(y*k>widthy&&status==2)
+ {
+ k-=0.01;
+ pc.printf("no%f|%f|%f\r\n",y,k,y*k);
+ wait(0.001);
+ }
if (status == 2)
{
+
if (Getawork)
{ //收到新任务
Getawork = 0;
@@ -336,18 +363,22 @@
pc.printf("File opened\r\n");
status = 3;
publish_value(client, "report", "wait data.");
+ pc.printf("wait data.%d\r\n",status);
}
}
- else
- {
- wait(0.1);
- publish_value(client, "report", "ready.");
- }
+
}
- else if (status == 3)
+ if (status == 3)
{
+ if(flag==1)
+ {
+ //wait(15);
+
+ publish_value(client, "report", "all wrote.");
+ pc.printf("wrote finish %d\r\n",status);
+ }
if (Getdata)
{ //数据接收完
Getdata = 0;
@@ -357,17 +388,27 @@
status = 4;
}
}
- else if (status == 4)
+ if (status == 4)
{
// pc.printf("debug4 \r\n");
// dealdata();
- pc.printf("Drawing.. %d \r\n",status);
+ pc.printf("Drawing.. %d |%d\r\n",status,dot);
// usbprintdata();
draw();
publish_value(client, "report", "done.");
+ pc.printf("done. %d \r\n",status);
status = 2;
+ x=0;
+ y=0;
+ Getawork = 0;
+ Getdata = 0;
+ unit_xy=200;
+ k=1.0;
+ flag=0;
+ dot=0;
+ //strcpy(w,"");
}
client.yield(1000);
}
-
+
}
--- a/networking.cpp Fri Jul 27 10:19:40 2018 +0000
+++ b/networking.cpp Tue Jul 31 03:56:05 2018 +0000
@@ -49,7 +49,7 @@
void messageArrived(MQTT::MessageData& md)
{
MQTT::Message &message = md.message;
- pc.printf("messageArrived %d,%d\r\n", md.topicName.lenstring.len, message.payloadlen);
+ //pc.printf("messageArrived %d,%d\r\n", md.topicName.lenstring.len, message.payloadlen);
// char buf[64];
// int value, len = sizeof(buf)-1;