//debug code
int main(void){
PLL_Init(Bus80MHz); // bus clock at 50 MHz
Output_Init();
SYSCTL_RCGCGPIO_R |= 0x20; // activate port F
//ADC0_InitTimer0ATriggerSeq3(2, F30HZ); // ADC channel 0, 1000 Hz sampling
ADC0_InitTimer0ATriggerSeq3PD3(F30HZ);
//ADC0_InitSWTriggerSeq3_Ch9();
while((SYSCTL_PRGPIO_R&0x0020) == 0){};// ready?
GPIO_PORTF_DIR_R |= 0x02; // make PF1 output (PF1 built-in LEDs)
GPIO_PORTF_AFSEL_R &= ~0x02; // disable alt funct on PF1
GPIO_PORTF_DEN_R |= 0x02; // enable digital I/O on PF1
// configure PF1 as GPIO
GPIO_PORTF_PCTL_R = (GPIO_PORTF_PCTL_R&0xFFFFF0FF)+0x00000000;
GPIO_PORTF_AMSEL_R = 0; // disable analog functionality on PF
EnableInterrupts();
plotInit();
while(1){
GPIO_PORTF_DATA_R ^= 0x02; // toggle LED
//ADCvalue = ADC0_InSeq3();
temperature = adcToTemp(ADCvalue + offset);
plotPoint();
ST7735_SetCursor(1,2);
ST7735_sDecOut2(temperature);
ST7735_SetCursor(2,1);
ST7735_OutUDec(ADCvalue + offset);
}
}
void SocSystem_Analytical::displayState(const arr& q,const arr *invQ,const char *text){
cout <<"gnuplot state display " <<text <<endl;
plotGnuplot();
plotClear();
plotPoints(obstacles);
plotPoint(q);
arr C;
inverse_SymPosDef(C,(*invQ));
plotCovariance(q,C);
plot();
}
void bezier(wcPt3D * ctrlPts, GLint nCtrlPts,GLint nBezCurvePts)
{
wcPt3D bezCurvePt;
GLfloat u;
GLint* C, k;
C = new GLint[nCtrlPts];
binomialCoeffs(nCtrlPts-1,C);
for( k = 0; k <= nBezCurvePts; k++)
{
u = GLfloat(k) / GLfloat(nBezCurvePts);
computeBezPt(u,&bezCurvePt,nCtrlPts,ctrlPts,C);
plotPoint(bezCurvePt);
}
delete [] C;
}
//Draws the 3D scene
void drawScene() {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glMatrixMode(GL_MODELVIEW); //Switch to the drawing perspective
glLoadIdentity(); //Reset the drawing perspective
Coord tail1 = rotateAlongXYZ(_tail1, _current_angle);
Coord tail2 = rotateAlongXYZ(_tail2, _current_angle);
Coord tail3 = rotateAlongXYZ(_tail3, _current_angle);
Coord tail4 = rotateAlongXYZ(_tail4, _current_angle);
Coord tail5 = rotateAlongXYZ(_tail5, _current_angle);
Coord tail6 = rotateAlongXYZ(_tail6, _current_angle);
Coord tail7 = rotateAlongXYZ(_tail7, _current_angle);
Coord tail8 = rotateAlongXYZ(_tail8, _current_angle);
Coord offset = _offset;
glBegin(GL_QUADS); // Bottom face
glColor4f(0,0,1,1);
plotPoint(tail1, offset);
plotPoint(tail2, offset);
plotPoint(tail3, offset);
plotPoint(tail4, offset);
glColor4f(0,1,0,1);
plotPoint(tail5, offset);
plotPoint(tail6, offset);
plotPoint(tail7, offset);
plotPoint(tail8, offset);
glColor4f(0,1,1,1);
plotPoint(tail1, offset);
plotPoint(tail2, offset);
plotPoint(tail5, offset);
plotPoint(tail6, offset);
glColor4f(1,0,0,1);
plotPoint(tail1, offset);
plotPoint(tail4, offset);
plotPoint(tail5, offset);
plotPoint(tail8, offset);
glColor4f(1,0,1,1);
plotPoint(tail2, offset);
plotPoint(tail3, offset);
plotPoint(tail6, offset);
plotPoint(tail7, offset);
glColor4f(1,1,0,1);
plotPoint(tail3, offset);
plotPoint(tail4, offset);
plotPoint(tail7, offset);
plotPoint(tail8, offset);
glEnd();
glutSwapBuffers();
}
void mouseLnPlot(GLint xMouse, GLint yMouse){
plotPoint(xMouse, winHeight - yMouse);
glFlush();
}
void mousePtPlot(GLint button, GLint action, GLint xMouse, GLint yMouse){
EDGE *ptr;
int j=0;
PLG *PLGptr;
if(flag == 9) return;
//按下左鍵
if(button == GLUT_LEFT_BUTTON && action == GLUT_DOWN){
//第二個點
if(flag == 1){
//存入邊
listhead = listLink(listhead, ¤t, previousX, previousY, xMouse, winHeight - yMouse, 1);
counti++;
//畫出外框
glColor3f(0.0, 1.0, 0.0);
glBegin(GL_LINES);
glVertex2i(previousX, previousY);
glVertex2i(xMouse, winHeight - yMouse);
glEnd();
}
//第一個點
if(flag == 0){
//紀錄起始點
startX = xMouse;
startY = winHeight - yMouse;
flag = 1;
}
//紀錄上一個點
else if(flag == 4){
printf("triangle start\n");
PLGptr = polygonlist;
for(j=1;;j++){
triangulation(PLGptr->list, trianglehead);
PLGptr = PLGptr->next;
if(PLGptr == NULL) break;
}
PrintTRG(trianglehead);
glFlush();
printf("triangle finish\n");
flag = 5;
}
else if(flag == 5){
printf("drawing start\n");
fillcollor(trianglehead);
printf("drawing finish\n");
flag = 9;
}
if(flag != 5 || flag != 9){
previousX = xMouse;
previousY = winHeight - yMouse;
plotPoint(xMouse, winHeight - yMouse);
}
if(flag == 3) flag = 4;
}
//按下右鍵
if(button == GLUT_RIGHT_BUTTON && action == GLUT_DOWN && doneflag == 0){
//把最後一個點和起始點連接
listhead = listLink(listhead, ¤t, previousX, previousY,startX, startY, 1);
polygonlist = polygon_link(polygonlist, listhead, &PLGcurrent);
glColor3f(0.0, 1.0, 0.0);
glBegin(GL_LINES);
glVertex2i(previousX, previousY);
glVertex2i(startX, startY);
glEnd();
flag = 4;
//畫出外框
glFlush();
printf("draw contour finish\n");
doneflag = 1;
}
glFlush();
}
