Avr/Plotter
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IMback 2017-09-14 18:10:46 +02:00
commit dd6f37a960
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plotter.cpp Normal file
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#include "plotter.h"
const int SCALEX=5;
const int SCALEY=5;
Plotter::Plotter(volatile unsigned char *penPort, const char penPin, Serial* serial): _pwm( &TCCR1A, &TCCR1B, &OCR1A, &OCR1B, &ICR1, 0b00000001)
{
_serial=serial;
_penPort=penPort;
_penPin=penPin;
basicposition();
}
Point Plotter::getCurrentPos()
{
return currentPos;
}
void Plotter::demo()
{
moveto(65535,0);
moveto(65535,42129);
moveto(0,42129);
moveto(0,0);
pd();
pu();
}
void Plotter::basicposition()
{
moveto(0, 0);
}
void Plotter::pd()
{
_delay_us(1000);
writePin(_penPort, _penPin, true);
_delay_us(1000);
}
void Plotter::pu()
{
_delay_us(1000);
writePin(_penPort, _penPin, false);
_delay_us(1000);
}
void Plotter::moveto(Point *pt)
{
moveto((*pt).x,(*pt).y);
}
void Plotter::moveto(const uint16_t nx, const uint16_t ny)
{
int deltaX = nx - currentPos.x; //-5100
int deltaY = ny - currentPos.y; //0
int steps;
int32_t StepSizeX=0;
int32_t StepSizeY=0;
if( abs(deltaX) > abs(deltaY))
{
if(deltaX != 0) StepSizeX = 100*(deltaX/abs(deltaX));// -100
if(deltaY != 0) StepSizeY = ((int32_t)abs(deltaY)*100)/abs((int32_t)deltaX)*(deltaY/abs(deltaY));// 0
steps = deltaX/StepSizeX;
}
else
{
StepSizeX = (((int32_t)abs(deltaX)*100)/abs((int32_t)deltaY))*(deltaX/abs(deltaX));
StepSizeY = 100*(deltaY/abs(deltaY));
steps = deltaY/StepSizeY;
}
for( int i = 0; i < steps; i++)
{
_pwm.setDutyA(65535-(currentPos.x+i*StepSizeX)*SCALEX);
_pwm.setDutyB(65535-(currentPos.y+i*StepSizeY)*SCALEY);
_delay_us(10000);
}
_pwm.setDutyA(65535-nx*SCALEX);
_pwm.setDutyB(65535-ny*SCALEY);
if( abs((currentPos.x+steps*StepSizeX) - nx) > 10 || abs((currentPos.y+steps*StepSizeY) - ny) > 10 ) _delay_us(200000);
currentPos.x = nx;
currentPos.y = ny;
}