GLuint Positions(std::vector<T>& dest) const
{
unsigned k = 0, n = _vertex_count();
dest.resize(n * 3);
Vec3f pos(_point - _u - _v);
Vec3f ustep(_u * (2.0 / _udiv));
Vec3f vstep(_v * (2.0 / _vdiv));
unsigned leap = _udiv+1;
for(unsigned j=0; j!=(_vdiv+1); ++j)
{
Vec3f tmp = pos;
for(unsigned i=0; i!=leap; ++i)
{
dest[k++] = T(tmp.x());
dest[k++] = T(tmp.y());
dest[k++] = T(tmp.z());
tmp += ustep;
}
pos += vstep;
}
assert(k == dest.size());
return 3;
}
int main(){
//set up port pins
DDRB |= 0b00101000;
DDRD |= 0b01101000;
DDRC = 0;
PORTB = 0xFF;
PORTC = 0xFF;
PORTD = 0xFF;
//PWM timer configs
TCCR0A = 0b10100011; //fastPWM; p.103 in datasheet
TCCR2A = 0b10100011; //fastPWM; p.153
TCCR0B = 2; //F_CPU/8; p.105 (7.84 kHz)
TCCR2B = 2; //F_CPU/8; p.157
OCR0A = 128; //gently lock stepper rotation
//startup blinkenled
for (int i=0; i<8; i++){
PORTB |= (1<<5);
delay(800);
PORTB &= ~(1<<5);
delay(800);
}
delay(8000);
//read in DIPswitch; set up TIMER1 per external calculation
switch (PINC & 0b00000111){
case 0:
dly=3333; //8s revolution
TCCR1B |= (1); //F_CPU/1; page 133;
blink (0);
break;
case 1:
dly=6666; //16s revolution
TCCR1B |= (1); //F_CPU/1
blink (1);
break;
case 2:
dly=1667; //32s revolution
TCCR1B |= (2); //F_CPU/8
blink (2);
break;
case 3:
dly=3333; //64s revolution
TCCR1B |= (2); //F_CPU/8
blink (3);
break;
case 4:
dly=3906; //10min revolution
TCCR1B |= (3); //F_CPU/64
blink (4);
break;
case 5:
dly=23437; //1hr revolution
TCCR1B |= (3); //F_CPU/64
blink (5);
break;
case 6:
dly=2929; //2hr revolution
TCCR1B |= (5); //F_CPU/1024
blink (6);
break;
case 7:
dly=5859; //4hr revolution
TCCR1B |= (5); //F_CPU/1024
blink (7);
break;
default:
die (1);
}
while(PIND & 1<<1){ //allow user to pre-position camera
if(!(PIND & 1<<2)){
ustep(1);
} else if(!(PIND & 1)){
ustep(2);
}
delay(mdelay);
}
//button has been pressed; initiate pictionation
blink(10);
TCNT1 = 0;
while(1){
if (TCNT1 >= dly){die (2);} //catch possible timer underrun
while(TCNT1 < dly){} //poll timer
TCNT1 = 0;
ustep(2);
}
}//main
