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/**
* @file plotclock.ino
* @author HHH（https://gitee.com/jin-yiyang）
* @brief plotclock 工程文件
* 包含舵机控制，DS3231时钟模块读取
* 该版本只能在画板上绘制当前时间，其他功能待开发
* @version 1.0
* @date 2022-1-25
*
* @copyright Copyright (c) 2022
*
*/
#include <Time.h> //需手动安装time库
#include <TimeLib.h>
#include <Servo.h> //servo controller
#include <Wire.h>
#include <DS3231.h> //需手动安装DS3231库
#define normal_mode // 开启正常模式
//#define ADJUST // 开启调试模式
//#define GPIO // 开启调试模式
#define extra_mode // 开启额外模式
/* Adjust these values for servo arms in position for state 1 _| */
const double SERVO_LEFT_ZERO = 1600; //初始状态
const double SERVO_RIGHT_SCALE = 690; // + makes rotate further left
/* Adjust these values for servo arms in position for state 2 |_ */
const double SERVO_RIGHT_ZERO = 650;
const double SERVO_LEFT_SCALE = 650;
/* 必要的绘图延时 */
const double DRAW_DELAY = 5;
/* DS3231初始化 */
DS3231 rtc(SDA, SCL);
/* 设定舵机引脚以及LED引脚 */
const int SERVO_LEFT_PIN = 6;
const int SERVO_RIGHT_PIN = 5;
const int LED_PIN = 12;
/* 设定舵机力臂的长度 */
const double LOWER_ARM = 35; //servo to lower arm joint
const double UPPER_ARM_LEFT = 56; //lower arm joint to led
const double LED_ARM = 13.5; //upper arm joint to led
const double UPPER_ARM = 45; //lower arm joint to upper arm joint
double cosineRule(double a, double b, double c);
const double LED_ANGLE = cosineRule(UPPER_ARM_LEFT,UPPER_ARM,LED_ARM);
/* 设定初始的左右舵机坐标 */
const double SERVO_LEFT_X = 22;
const double SERVO_LEFT_Y = -32;
const double SERVO_RIGHT_X = SERVO_LEFT_X + 25.5;
const double SERVO_RIGHT_Y = SERVO_LEFT_Y;
/* 计算舵机角 */
#define radian(angle) (M_PI*2* angle)
#define dist(x,y) sqrt(sq(x)+sq(y))
#define angle(x,y) atan2(y,x)
/* 设定绘制的字体大小 */
const double TIME_BOTTOM = 12;
const double TIME_WIDTH = 11;
const double TIME_HEIGHT = 18;
/* 设定绘制的字体大小 */
const double DAY_WIDTH = 7;
const double DAY_HEIGHT = 12;
const double DAY_BOTTOM = 5;
const double DATE_BOTTOM = 24;
/* 设定初始location */
const double HOME_X = 55, HOME_Y = -5;
Servo servoLeft, servoRight;
/* 设定星期序列 */
const char weekDays[] = {8,10,12, 5,6,12, 9,10,2, 11,2,13, 9,4,10, 3,7,14, 8,1,9}; //character set: AEFHMORSTUWNDI
double lastX = HOME_X, lastY = HOME_Y;
/* 设定画笔状态 */
bool lightOn = false;
/* 设定gpio状态 */
void setup() {
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, LOW);
rtc.begin();
}
/* 设定画笔状态 */
void light(bool state){
lightOn = state == HIGH;
delay(100);
digitalWrite(LED_PIN, state);
}
const int LONG_PRESS_DURATION = 750;
void loop(){
if (!servoLeft.attached()) servoLeft.attach(SERVO_LEFT_PIN);
if (!servoRight.attached()) servoRight.attach(SERVO_RIGHT_PIN);
/* 开启调试模式，使起始终止点正确 */
#ifdef ADJUST
/**
* Pressing the button alternates the servo arms between 2 states.
* State one if left arm pointing to 9 o'clock and right arm pointing to 12 o'clock _|
* State two if left arm pointing to 12 o'clock and right arm pointing to 3 o'clock |_
* At the very top of the code you adjust the 4 constants to get the arms into these exact positions.
* Adjust SERVO_LEFT_ZERO so that the left servo points to 9 o'clock when in state one
* Adjust SERVO_RIGHT_SCALE so that the right servo points to 12 o'clock when in state one
* Adjust SERVO_RIGHT_ZERO so that the right servo points to 3 o'clock when in state two
* Adjust SERVO_LEFT_SCALE so that the left servo points to 12 o'clock when in state two
*/
static bool half;
servoLeft.writeMicroseconds(floor(SERVO_LEFT_ZERO + (half ? - M_PI/2 : 0) * SERVO_LEFT_SCALE ));
servoRight.writeMicroseconds(floor(SERVO_RIGHT_ZERO + (half ? 0 : M_PI/2 ) * SERVO_RIGHT_SCALE ));
light(half ? LOW : HIGH);
half = !half;
delay(2000);
#else //ADJUST
/* 开始调试模式，测试LED的使用 */
#ifdef GPIO
for(int i = 0; i <= 70; i += 10)
for(int j = 0; j <= 40; j += 10){
drawTo(i, j);
light(HIGH);
light(LOW);
}
#else //GPIO
delay(10);
uint32_t longpress = millis() + LONG_PRESS_DURATION;
while ((!digitalRead(BUTTON_PIN)) && (millis() < longpress))
{ }; // wait
bool date = false;
if (millis() >= longpress)
date = true;
drawTo(HOME_X, 0);
#endif // NOT ADJUST OR GRID
/* 主程序运行从这里开始,运行正常时钟模式 */
#ifdef normal_mode
/* 读取时钟的时间 */
uint8_t Hour=rtc.gethour();
uint8_t Min=rtc.getmin();
uint8_t Sec=rtc.getsec();
/* 由小时和分钟绘制到画板 */
if(Hour / 10)
drawDigit(3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, Hour / 10);
drawDigit(3+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, Hour % 10);
// Draw colon
drawDigit((69-TIME_WIDTH)/2, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 11);
// minute
drawDigit(69-(TIME_WIDTH+3)*2, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, Min / 10);
drawDigit(72-(TIME_WIDTH+3), TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, Min % 10);
drawTo(HOME_X, HOME_Y);
#endif
/* 主程序运行从这里开始,运行额外模式 */
#ifdef extra_mode
drawDigit(3+TIME_WIDTH, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 12); // N
drawDigit(3+TIME_WIDTH+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 2); // E
drawDigit(3+TIME_WIDTH+TIME_WIDTH+3+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 11); // W
drawDigit(3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 12); // N
drawDigit(3+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 2); // E
drawDigit(3+TIME_WIDTH+3+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, 1); // A
drawDigit(3+TIME_WIDTH+3+TIME_WIDTH+3+TIME_WIDTH+3, TIME_BOTTOM, TIME_WIDTH, TIME_HEIGHT, R); // W
#endif
#endif // GRID or Normal Plot Time
servoLeft.detach();
servoRight.detach();
}
/* 定义相关的运行函数 */
#define digitMove(dx, dy) drawTo(x + width*dx, y + height*dy)
#define digitStart(dx, dy) digitMove(dx, dy); light(HIGH)
#define digitArc(dx, dy, rx, ry, start, last) drawArc(x + width*dx, y + height*dy, width*rx, height*ry, radian(start), radian(last))
/**
* @FunctionName: drawDigit
* @Description： 用于绘制数字
* @Calls: none
* Called By: loop
* Input: x 起始点x坐标
* y 起始点y坐标
* width 字体宽度
* height 字体长度
* digit 绘制的数字
* Output: none
* Return: none
*/
void drawDigit(double x, double y, double width, double height, char digit) {
//see macros for reference
switch (digit) {
case 0: //
digitStart(1/2,1);
digitArc(1/2,1/2, 1/2,1/2, 1/4, -3/4);
//digitStart(1,1/2);
//digitArc(1/2,1/2, 1/2,1/2, 0, 1.02);
break;
case 1: //
digitStart(1/4,7/8);
digitMove(1/2,1);
digitMove(1/2,0);
break;
case 2: //
digitStart(0,3/4);
digitArc(1/2,3/4, 1/2,1/4, 1/2, -1/8);
digitArc(1,0, 1,1/2, 3/8, 1/2);
digitMove(1,0);
break;
case 3:
digitStart(0,3/4);
digitArc(1/2,3/4, 1/2,1/4, 3/8, -1/4);
digitArc(1/2,1/4, 1/2,1/4, 1/4, -3/8);
break;
case 4:
digitStart(1,3/8);
digitMove(0,3/8);
digitMove(3/4,1);
digitMove(3/4,0);
break;
case 5: //wayy too many damn lines
digitStart(1,1);
digitMove(0,1);
digitMove(0,1/2);
digitMove(1/2,1/2);
digitArc(1/2,1/4, 1/2,1/4, 1/4, -1/4);
digitMove(0,0);
break;
case 6:
digitStart(0,1/4);
digitArc(1/2,1/4, 1/2,1/4, 1/2, -1/2);
digitArc(1,1/2, 1,1/2, 1/2, 1/4);
break;
case 7:
digitStart(0,1);
digitMove(1,1);
digitMove(1/4,0);
break;
case 8:
digitStart(1/2,1/2);
digitArc(1/2,3/4, 1/2,1/4, -1/4, 3/4);
digitArc(1/2,1/4, 1/2,1/4, 1/4, -3/4);
break;
case 9:
digitStart(1,3/4);
digitArc(1/2,3/4, 1/2,1/4, 0, 1);
digitMove(3/4,0);
break;
case 10: //dot
digitStart(0,0);
//digitMove(0,1);
//digitMove(1,1);
//digitMove(1,0);
break;
case 11: //colon
digitStart(1/2,3/4);
light(LOW);
digitStart(1/2,1/4);
break;
case 12: //slash
digitStart(3/4,5/4);
digitMove(1/4,-1/4);
break;
}
light(LOW);
}
/**
* @FunctionName: drawChar
* @Description： 用于绘制字符
* @Calls: none
* Called By: none 本项目暂未用到
* Input: x 起始点x坐标
* y 起始点y坐标
* width 字体宽度
* height 字体长度
* digit 绘制的字符
* Output: none
* Return: none
*/
void drawChar(double x, double y, double width, double height, char digit) {
//see macros for reference
switch (digit) {
//letters for the day of the week
case 1: //A
digitStart(0,0);
digitMove(1/2,1);
digitMove(1,0);
light(LOW);
digitStart(1/4,1/2);
digitMove(3/4,1/2);
break;
case 2: //E
digitStart(1,0);
digitMove(0,0);
digitMove(0,1);
digitMove(1,1);
light(LOW);
digitStart(0,1/2);
digitMove(1,1/2);
break;
case 3: //F
digitStart(0,0);
digitMove(0,1);
digitMove(1,1);
light(LOW);
digitStart(0,1/2);
digitMove(1,1/2);
break;
case 4: //H
digitStart(0,1);
digitMove(0,0);
light(LOW);
digitStart(0,1/2);
digitMove(1,1/2);
light(LOW);
digitStart(1,1);
digitMove(1,0);
break;
case 5: //M
digitStart(0,0);
digitMove(0,1);
digitMove(1/2,1/2);
digitMove(1,1);
digitMove(1,0);
break;
case 6: //O (0)
digitStart(1,1/2);
digitArc(1/2,1/2, 1/2,1/2, 0, 1.02);
break;
case 7: //R
digitStart(0,0);
digitMove(0,1);
digitMove(1/2,1);
digitArc(1/2,3/4, 1/2,1/4, 1/4, -1/4);
digitMove(0,1/2);
digitMove(1,0);
break;
case 8: //S
digitStart(0,0);
digitMove(1/2,0);
digitArc(1/2,1/4, 1/2,1/4, -1/4, 1/4);
digitArc(1/2,3/4, 1/2,1/4, 3/4, 1/4);
digitMove(1,1);
break;
case 9: //T
digitStart(1,1);
digitMove(-1/2,1); //bad
light(LOW);
digitStart(1/2,1);
digitMove(1/2,0);
break;
case 10: //U
digitStart(0,1);
digitMove(0,1/4);
digitArc(1/2,1/4, 1/2,1/4, -1/2, 0);
digitMove(1,1);
break;
case 11: //W
digitStart(0,1);
digitMove(0,0);
digitMove(1/2,1/2);
digitMove(1,0);
digitMove(1,1);
break;
case 12: //N
digitStart(0,0);
digitMove(0,1);
digitMove(1,0);
digitMove(1,1);
break;
case 13: //D
digitStart(0,0);
digitMove(0,1);
digitMove(1/2,1);
digitArc(1/2,1/2, 1/2,1/2, 1/4,-1/4);
digitMove(0,0);
break;
case 14: //I
digitStart(1/2,1);
digitMove(1/2,0);
light(LOW);
digitStart(0,0);
digitMove(1,0);
light(LOW);
digitStart(1,1);
digitMove(0,1);
break;
case 15: //P
digitStart(0,0);
digitMove(0,1);
digitMove(1/2,1);
digitArc(1/2,3/4, 1/2,1/4, 1/4, -1/4);
}
light(LOW);
}
/**
* @FunctionName: drawArc
* @Description： 用于绘制曲线
* @Calls: none
* Called By: none 本项目暂未用到
* Input: x 起始点x坐标
* y 起始点y坐标
* rx x方向增量
* ry y方向增量
* pos 相位角
* last 终点坐标
* Output: none
* Return: none
*/
#define ARCSTEP 0.05 //should change depending on radius
void drawArc(double x, double y, double rx, double ry, double pos, double last) {
if(pos < last)
for(; pos <= last; pos += ARCSTEP)
drawTo(x + cos(pos)*rx, y + sin(pos)*ry);
else
for(; pos >= last; pos -= ARCSTEP)
drawTo(x + cos(pos)*rx, y + sin(pos)*ry);
}
/**
* @FunctionName: drawTo
* @Description： 用于使舵机移动到固定位置
* @Calls: none
* Called By: loop
* Input: pX 固定点x坐标
* pY 固定点y坐标
* Output: none
* Return: none
*/
void drawTo(double pX, double pY) {
double dx, dy, c;
int i;
// dx dy of new point
dx = pX - lastX;
dy = pY - lastY;
//path length in mm, times 4 equals 4 steps per mm
c = floor(4 * dist(dx,dy));
if (c < 1)
c = 1;
// draw line point by point
for (i = 1; i <= c; i++){
set_XY(lastX + (i * dx / c), lastY + (i * dy / c));
if (lightOn)
delay(DRAW_DELAY);
}
lastX = pX;
lastY = pY;
}
/**
* @FunctionName: cosineRule
* @Description： 余弦公式
* @Calls: none
* Called By: loop
* Input: a 三角形a边
* b 三角形b边
* c 三角形c边
* Output: 三角形b边的长度
* Return: 三角形b边的长度
*/
double cosineRule(double a, double b, double c) {
return acos((sq(a)+sq(c)-sq(b))/(2*a*c));
}
/**
* @FunctionName: set_XY
* @Description： 用于使舵机移动到固定位置
* @Calls: none
* Called By: loop
* Input: x 固定点x坐标
* y 固定点y坐标
* Output: none
* Return: none
*/
void set_XY(double x, double y) {
//Calculate triangle between left servo, left arm joint, and light
//Position of pen relative to left servo
//rectangular
double penX = x - SERVO_LEFT_X;
double penY = y - SERVO_LEFT_Y;
//polar
double penAngle = angle(penX,penY);
double penDist = dist(penX,penY);
//get angle between lower arm and a line connecting the left servo and the pen
double bottomAngle = cosineRule(LOWER_ARM, UPPER_ARM_LEFT, penDist);
servoLeft.writeMicroseconds(floor(SERVO_LEFT_ZERO + (bottomAngle + penAngle - M_PI) * SERVO_LEFT_SCALE));
//calculate middle arm joint location
double topAngle = cosineRule(UPPER_ARM_LEFT, LOWER_ARM, penDist);
double lightAngle = penAngle - topAngle + LED_ANGLE + M_PI;
double jointX = x - SERVO_RIGHT_X + cos(lightAngle) * LED_ARM;
double jointY = y - SERVO_RIGHT_Y + sin(lightAngle) * LED_ARM;
bottomAngle = cosineRule(LOWER_ARM, UPPER_ARM, dist(jointX, jointY));
double jointAngle = angle(jointX, jointY);
servoRight.writeMicroseconds(floor(SERVO_RIGHT_ZERO + (jointAngle - bottomAngle) * SERVO_RIGHT_SCALE));
}
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