void draw_my_name()
{
pen_colour(BLACK);
pen_down();
turn(RIGHT);
forward(100);
turn(LEFT);
forward(200);
turn(LEFT);
forward(100);
pen_up();
forward(-50);
turn(LEFT);
pen_down();
forward(200);
pen_up();
turn(LEFT);
forward(100);
turn(LEFT);
forward(100);
turn(180);
pen_down();
forward(100);
turn(LEFT);
forward(50);
turn(LEFT);
forward(100);
pen_up();
turn(RIGHT);
forward(50);
pen_down();
forward(50);
turn(RIGHT);
forward(100);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
pen_up();
forward(50);
turn(RIGHT);
forward(50);
turn(180);
pen_down();
forward(100);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(100);
pen_up();
}
void keyPressed()
{
if(keyCode==UP)
send_command(FORWARD, linear_parameter1, linear_parameter2);
if(keyCode==DOWN)
send_command(BACKWARD, linear_parameter1, linear_parameter2);
if(keyCode==LEFT)
send_command(right, rotary_parameter1, rotary_parameter2);
if(keyCode==RIGHT)
send_command(left, rotary_parameter1, rotary_parameter2);
if(key=='c')
{
for(int i=0;i<100;i++)
{
send_command(FORWARD,linear_parameter1,linear_parameter2);
delay(1000);
send_command(left, rotary_parameter1, rotary_parameter2);
delay(1000);
if(pen)
{
pen_up();
}
else
pen_down();
pen=!pen;
delay(750);
check_data();
}
}
if(key=='?')
{
send_query(GET_STATUS);
}
if(key=='q')
{
exit();
}
if(key=='u')
pen_up();
if(key=='d')
pen_down();
if(key==' ')
send_command(STOP,(byte)0,(byte)0);
// if(key==' ')
// send_stop();
}
void turn_left(int degree){
pen_up();
_delay_ms(100);
move_straight(245,1);
left_degrees(degree);
move_straight(245,0);
_delay_ms(100);
pen_down();
}
int main(int argc, char* argv[])
{
srand(time(0));
create_turtle_world();
pen_up();
forward(-150);
pen_down();
draw_tree(300, 5);
return p1world_shutdown();
}
//This function is used to draw different size of triangles in different colours.
void draw_triangle(int scale)
{
pen_colour(NEXT);
pen_down();
forward(10 * scale);
turn(105);
forward(5 * scale);
turn(105);
forward(10 * scale);
turn(180);
pen_up();
}
//Main function
int main(void)
{
//Initialize value array with 0
int i;
for(i=0;i<1000;i++){
val_array[i] = 0;
}
data_pos = 0;
bot_pos = 0;
init_devices();
//LCD_Reset_4bit();
lcd_cursor(2,1);
lcd_string("DRAWOID");
while(1){
if (bot_pos < data_pos){
lcd_print(1,9,val_array[bot_pos],3);
lcd_cursor(1,1);
if (mov_array[bot_pos] == 'F'){
lcd_string("F");
move_straight(val_array[bot_pos],1);
}
else if (mov_array[bot_pos] == 'B'){
lcd_string("B");
move_straight(val_array[bot_pos],0);
}
else if (mov_array[bot_pos] == 'R'){
lcd_string("R");
turn_right(val_array[bot_pos]);
}
else if (mov_array[bot_pos] == 'L'){
lcd_string("L");
turn_left(val_array[bot_pos]);
}
else if (mov_array[bot_pos] == 'U'){
lcd_string("U");
pen_up();
}
else if (mov_array[bot_pos] == 'D'){
lcd_string("D");
pen_down();
}
bot_pos++;
_delay_ms(1000);
}
}
return 0;
}
int main(int argc, char* argv[])
{
set_delay_time(1);
create_turtle_world();
pen_up();
turn(LEFT);
forward(200);
turn(RIGHT);
draw_my_name();
hide_turtle();
return(p1world_shutdown());
}
int main(void) {
setSysTick();
config_PWM();
gpio_init_motor();
pen_up();
pad_init();
draw();
/* Create a task to button check. */
//xTaskCreate(H1,(signed portCHAR *) "AutoWrite", 512, NULL, tskIDLE_PRIORITY + 4, NULL );
/* Start running the tasks. */
//vTaskStartScheduler();
while(1);
}
int main(int argc, char* argv[])
{
create_turtle_world();
turn(90);
for (int i = 0; i < 7; i++)
{
forward(20);
pen_up();
if (i < 6)
{
forward(20);
}
pen_down();
}
hide_turtle();
return p1world_shutdown();
}
int main()
{
char keyboard_input[100];
XColor black_col,white_col,red_col,green_col,blue_col,yellow_col,magenta_col,cyan_col;
Colormap colormap;
char black_bits[] = "#000000";
char white_bits[] = "#FFFFFF"; // Mix red, green and blue to get white
char red_bits[] = "#FF0000";
char green_bits[] = "#00FF00";
char blue_bits[] = "#0000FF";
char yellow_bits[] = "#FFFF00"; // Mix red and green to get yellow
char magenta_bits[] = "#FF00FF"; // A sort of purple color
char cyan_bits[] = "#00FFFF"; // A blue-green color
//Display *dpy = XOpenDisplay(NIL);
dpy = XOpenDisplay(NIL); assert(dpy); // Open the display
// Define the colors we want to use
colormap = DefaultColormap(dpy, 0);
XParseColor(dpy, colormap, black_bits, &black_col); XAllocColor(dpy, colormap, &black_col);
XParseColor(dpy, colormap, white_bits, &white_col); XAllocColor(dpy, colormap, &white_col);
XParseColor(dpy, colormap, red_bits, &red_col); XAllocColor(dpy, colormap, &red_col);
XParseColor(dpy, colormap, green_bits, &green_col);XAllocColor(dpy, colormap, &green_col);
XParseColor(dpy, colormap, blue_bits, &blue_col);XAllocColor(dpy, colormap, &blue_col);
XParseColor(dpy, colormap, yellow_bits, &yellow_col);XAllocColor(dpy, colormap, &yellow_col);
XParseColor(dpy, colormap, magenta_bits, &magenta_col);XAllocColor(dpy, colormap, &magenta_col);
XParseColor(dpy, colormap, cyan_bits, &cyan_col);XAllocColor(dpy, colormap, &cyan_col);
// Create the window The numbers are the x and y locations on the screen, the width and height,
// border width (which is usually zero)
w = XCreateSimpleWindow(dpy, DefaultRootWindow(dpy), 0, 0, window_width, window_height,
0, black_col.pixel, black_col.pixel);
XSelectInput(dpy, w, StructureNotifyMask); // We want to get MapNotify events
XMapWindow(dpy, w); // "Map" the window (that is, make it appear on the screen)
for(;;){XEvent e; XNextEvent(dpy,&e); if(e.type == MapNotify) break;} //Wait for the MapNotify event
// which means that the window has appeared on the screen.
gc = XCreateGC(dpy, w, 0, NIL); // Create a "Graphics Context"
get_pen(white_col);
// We are finally ready to do some drawing! Whew!
// ................ Students: you put your beautiful code HERE: .......................
int i;
home(); // Send the turtle to the middle of the window. That's its "home"
get_pen(green_col);
for (i=0; i<36; i++) {
forward(250);
//printf("1 x=%g y=%g heading=%g\n",turtle_x,turtle_y,turtle_heading); //Optional: use for debugging
right(170);
//usleep(100000); XFlush(dpy); // Optional: use this to see the lines being drawn, one-by-one
}
pen_up(); home();
left(90); pen_down();
for (i=0; i<4; i++) {
get_pen(cyan_col);
forward(200);
//printf("2 x=%g y=%g heading=%g\n",turtle_x,turtle_y,turtle_heading); //Optional: use for debugging
left(90);
}
XFlush(dpy); // Tell the graphics server that it should really show us the results now.
sleep(1); // Wait for 1 second
printf("Press enter when done.\n");
fgets (keyboard_input,100,stdin);
return(0);
}
void next()
{
pen_up();
forward(55);
pen_down();
}
void cmd_interpreter( void *xBoard,int pressed_key) {
// ================================================
//printf("I am inside cmd_interpreter() before switch. \n");
switch (pressed_key) {
case 117:
// pressed_key char = u or int = 117
// DRIVE CNC ALONG Y-AXIS
printf("u \tdrive_up (500) y-axis (12,8 CW)\t==> Y-axis PINS = (0)(0) (1/0)(1) (0)(0) running ... ");
drive_up(xBoard, 500); // DRIVE (12,8 CW)
printf("done.\n");
break;
case 100:
// pressed_key char = d or int = 100
// DRIVE CNC ALONG Y-AXIS
printf("d \tdrive_down (500) y-axis (4,0 CCW)\t==> Y-axis PINS = (0)(0) (1)(0) (0)(0) running ... ");
drive_down(xBoard, 500); // DRIVE (4,0 CCW)
printf("done.\n");
break;
case 114:
// pressed_key char = r or int = 114
// DRIVE CNC ALONG X-AXIS
printf("r \tdrive_right (500) x-axis (3,2 CW)\t==> X-axis PINS = (1/0)(1) (0)(0) (0)(0) running ... ");
drive_right(xBoard, 500); // DRIVE (3,2 CW)
printf("done.\n");
break;
case 108:
// pressed_key char = l or int = 108
// DRIVE CNC ALONG X-AXIS
printf("l \tdrive_left (500) x-axis (1,0 CCW)\t==> X-axis PINS = (1)(0) (0)(0) (0)(0) running ... ");
drive_left(xBoard, 500); // DRIVE (1,0 CCW)
printf("done.\n");
break;
case 122:
// pressed_key char = z or int = 122
// DRIVE CNC ALONG Z-AXIS
printf("z \tdrivepen_up (500) z-axis (16,0 CW)\t==> Z-axis PINS = (0)(0) (0)(0) (1)(0) running ... ");
pen_up(xBoard, 500); // DRIVE (16,0 CW)
printf("done.\n");
break;
case 115:
// pressed_key char = s or int = 115
// DRIVE CNC ALONG Z-AXIS
printf("s \tdrivepen_down(500) z-axis (48,32 CCW)\t==> Z-axis PINS = (0)(0) (0)(0) (1/0)(1) running ... ");
pen_down(xBoard, 500); // DRIVE (48,32 CCW)
printf("done.\n");
break;
//===========
case 113:
// pressed_key char = q or int = 113
// QUIT AND EXIT PROGRAM
printf("q \tQuit and exit. \t\t==> Alhamdulillah. Done. \n\n");
// reset_CNC();
// RELEASE IO_PORTADDRESS WITH VALUE 0
printf("Alhamdulillah. Parallel port successfully released. \n\n");
close_keyboard();
exit(0);
default:
printf("%c \tERROR: Invalid command: ==> char %c or int %d \n", pressed_key, pressed_key, pressed_key);
}
//printf("I am exiting cmd_interpreter() after switch. \n");
}
int main(int argc, char* argv[])
{
create_turtle_world();
pen_up();
forward(200);
turn(LEFT);
forward(400);
turn(LEFT);
forward(100);
turn(180);
pen_down();
pen_colour(BLACK);
forward(100);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(100);
forward(-50);
turn(RIGHT);
forward(50);
forward(-50);
turn(RIGHT);
forward(50);
turn(RIGHT);
pen_up();
forward(25);
pen_down();
turn(RIGHT);
forward(100);
turn(LEFT);
forward(50);
turn(LEFT);
forward(100);
turn(RIGHT);
pen_up();
forward(25);
pen_down();
forward(100);
forward(-50);
turn(RIGHT);
forward(100);
pen_up();
forward(50);
turn(RIGHT);
forward(200);
pen_down();
pen_colour(MAGENTA);
turn(LEFT);
forward(100);
forward(-100);
turn(LEFT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(-135);
forward(70);
pen_up();
forward(-70);
turn(-45);
forward(75);
pen_down();
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(25);
turn(RIGHT);
forward(50);
pen_up();
forward(75);
turn(LEFT);
forward(25);
turn(LEFT);
pen_down();
forward(50);
turn(LEFT);
forward(25);
turn(LEFT);
forward(50);
turn(RIGHT);
forward(25);
turn(RIGHT);
forward(50);
pen_up();
forward(-75);
turn(LEFT);
forward(50);
turn(180);
pen_down();
forward(100);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
pen_up();
turn(RIGHT);
forward(100);
turn(RIGHT);
forward(75);
turn(RIGHT);
pen_down();
forward(100);
turn(LEFT);
forward(50);
turn(LEFT);
forward(50);
turn(LEFT);
forward(50);
pen_up();
forward(-125);
turn(LEFT);
forward(50);
turn(RIGHT);
pen_down();
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(25);
turn(RIGHT);
forward(50);
pen_up();
forward(-75);
turn(LEFT);
forward(25);
turn(180);
pen_down();
forward(50);
turn(RIGHT);
forward(50);
pen_up();
forward(25);
turn(RIGHT);
forward(50);
turn(180);
pen_down();
forward(50);
turn(RIGHT);
forward(50);
pen_up();
forward(25);
turn(RIGHT);
pen_down();
forward(50);
turn(LEFT);
forward(50);
turn(LEFT);
forward(50);
forward(-100);
turn(LEFT);
forward(50);
pen_up();
forward(-150);
turn(RIGHT);
forward(50);
pen_down();
pen_colour(GREEN);
forward(100);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
turn(RIGHT);
forward(50);
pen_up();
forward(-75);
turn(LEFT);
pen_down();
forward(50);
pen_up();
turn(180);
forward(70);
pen_down();
forward(10);
pen_up();
hide_turtle();
return (p1world_shutdown());
}
