PureBasic

Code : Tout sélectionner

; Exercise 7
; Animation of a two link planar arm with rotary joints
; Copyright © 2006 Serge Visser en Jos de Jong
; Written with the programming language PureBasic

; create program constants
; window and gadget constants
#winmain = 1
#winpaint = 2
#timerID = 3
#start = 4
#t1_scroll = 5
#t2_scroll = 6
#t1_text = 7
#t2_text = 8

; fonts and other constants
#font_Verdana = 10
#font_Verdana_big  = 11
#refreshinterval = 50     ;millisecs
#scroll_max = 40

; animating states:
#FollowBorder = 1
#GoToStartpoint = 2
#Finished = 3
;(#False is the initial state for animating)

; create global variables and declare functions
Declare CreateAnimation()
Declare UpdateScrollBar()
Global x0.f, y0.f
Global x1.f, y1.f
Global x2.f, y2.f
Global L1.f, L2.f
Global theta1.f, theta2.f         ;angle of the links
Global theta1_ref.f, theta2_ref.f ;position of the scrollbars
Global pi.f
Global delta.f
Global animT12
Global animXY
Global animcount
Global animpos
Global animating
Dim animT12.f(1000,1)
Dim animXY.f(1000,1)

; set initial values for the variables
pi = 4*ATan(1)
x0 = 300
y0 = 300
L1 = 150
L2 = L1/2
theta1 = 0.2*pi
theta2 = 0.25*pi
theta1_ref = theta1
theta2_ref = theta2
delta = 0.02*pi
animating = #False

; create some colors used for the graphics
Global black      :black = RGB(0,0,0)
Global red        :red = RGB(255,0,0)
Global white      :white = RGB(255,255,255)
Global brown      :brown = RGB(128,64,0)
Global pink       :pink = RGB(255,128,192)
Global purple     :purple = RGB(128,0,128)
Global green      :green = RGB(0,255,0)
Global darkgreen  :darkgreen = RGB(0,128,0)

Procedure CreateWindow()
  ; create the mainwindow with gadgets and 2D directX window
  OpenWindow(#winmain, 100, 100, 600, 500, #PB_Window_SystemMenu | #PB_Window_MinimizeGadget, "Two-link Animation")
  CreateGadgetList(WindowID())
  ButtonGadget(#start,10,10, 120,35, "&Start Animation")
 
  ; create a scrollbar for theta1
  TextGadget(#t1_text, 160, 5, 150, 20, "Theta1")
  ScrollBarGadget(#t1_scroll, 160, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t1_scroll, Int(#scroll_max * theta1/pi))

  ; create a scrollbar for theta2
  TextGadget(#t2_text, 320, 5, 150, 20, "Theta2")
  ScrollBarGadget(#t2_scroll, 320, 25,150, 20, 0, #scroll_max, 1)
  SetGadgetState(#t2_scroll, Int(#scroll_max * (theta2+0.5*pi)/(1.5*pi)))
 
  ; create a directX screen in the main window
  If InitSprite()=0
    MessageRequester("Error","Can't open DirectX",0)
    End   ;stop the program
  EndIf
  OpenWindowedScreen(WindowID(), 0, 55, 600, 445, 0, 0, 0)
  CreateAnimation()
 
  LoadFont(#font_Verdana, "Verdana", 10, 0)
  LoadFont(#font_Verdana_big, "Verdana", 13, #PB_Font_Bold)
 
  ; clear the screen
  ClearScreen(255,255,255)
EndProcedure

Procedure CreateAnimation()
  ; create the data needed to do the animation.
  ; the positions for the arm are saved in a matrix with two columns:
  ; first column contains theta1 for each moment,
  ; second column contains theta2 for each moment
 
  t1.f = 0
  t2.f = 0.5*pi
  animcount=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2+delta
  Until t2 >= 1*Pi

  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 1*Pi

  t1 = pi
  t2 = pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <=0
 
  t1=pi
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1-delta
  Until t1 <=0
 
  t1=0
  t2=0
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t2 = t2-delta
  Until t2 <= -0.5*pi

  t1=0
  t2=-0.5*pi
  Repeat
    animcount = animcount + 1
    animT12(animcount, 0) = t1
    animT12(animcount, 1) = t2
    animXY(animcount,0) = x0 + L1*Cos(-t1) + L2*Cos(-t1-t2)
    animXY(animcount,1) = y0 + L1*Sin(-t1) + L2*Sin(-t1-t2)
    t1 = t1+delta
  Until t1 >= 0.32*pi

EndProcedure

Procedure PlayAnimation()
  ; play the stored animation
  animpos = 0
  animating = #GoToStartpoint
  animfinished = #False
  theta1_ref = animT12(animpos+1,0)
  theta2_ref = animT12(animpos+1,1)
 
  ; disable the scrollbars
  DisableGadget(#t1_scroll, 1)
  DisableGadget(#t2_scroll, 1)
  DisableGadget(#t1_text, 1)
  DisableGadget(#t2_text, 1)
EndProcedure

Procedure StopAnimation()
  ; stop the animation
  animating = #Finished
 
  ; enable the scrollbars
  DisableGadget(#t1_scroll, 0)
  DisableGadget(#t2_scroll, 0)
  DisableGadget(#t1_text, 0)
  DisableGadget(#t2_text, 0)
EndProcedure

Procedure PaintLink(x.f, y.f, theta.f, length.f)
  ; paint a link with a joint using primitive graphics (yes thats fun! :)
  #armwidth = 5
  #jointradius = 8
  #jointradiusinner = 5
 
  bottom1x.f = x+#armwidth*Cos(theta+0.5*Pi)
  bottom1y.f = y+#armwidth*Sin(theta+0.5*Pi)
  bottom2x.f = x+#armwidth*Cos(theta-0.5*Pi)
  bottom2y.f = y+#armwidth*Sin(theta-0.5*Pi)

  top1x.f = bottom1x.f + length*Cos(theta)
  top1y.f = bottom1y.f + length*Sin(theta)
  top2x.f = bottom2x.f + length*Cos(theta)
  top2y.f = bottom2y.f + length*Sin(theta)

  LineXY(x, y, x+length*Cos(theta), y+length*Sin(theta), black)
  Circle(x, y, #jointradius, black)
  Circle(x, y, #jointradius-1, white)
  Circle(x, y, #jointradiusinner, black)
 
EndProcedure

Procedure Paint2Link()
  ; paint the arm on the screen

  ; paint the base of the arm
  w0 = 100
  h0 = 50
  r = 5
  border = 3
  FrontColor(0,0,0)
  Box(x0-0.5*w0, y0, w0, h0, black)
  Box(x0-0.5*w0+border, y0+border, w0-2*border, h0-2*border, red)
 
  ; paint the first link and the base joint
  PaintLink(x0, y0, -theta1, L1)

  ; paint the second link
  x1 = x0 + L1*Cos(-theta1)
  y1 = y0 + L1*Sin(-theta1)
  PaintLink(x1, y1, -theta1-theta2, L2)

  ; paint a joint on the end
  x2 = x1 + L2*Cos(-theta1-theta2)
  y2 = y1 + L2*Sin(-theta1-theta2)
  PaintLink(x2, y2, -theta1-theta2, 0)
       
EndProcedure

Procedure PaintWorkarea()
  ; paint the workarea reached so far during the animation
  posmax = animpos
  If posmax>animcount     :posmax = animcount :EndIf
  If animating=#Finished  :posmax = animcount :EndIf
 
  ;paint the border of the workarea
  For pos = 2 To posmax
    LineXY(animXY(pos-1,0),animXY(pos-1,1), animXY(pos,0),animXY(pos,1), darkgreen)
  Next

  If animating=#Finished
    ; after the last animation, fill up the workarea
    FillArea(x0, y0-L1, darkgreen, green)
  EndIf
EndProcedure

Procedure PaintText()
  ;paint some text in the window
  FrontColor(0,0,0)   ;black
  DrawingFont(UseFont(#font_Verdana_big))
  Locate(10,10)
  DrawText("Exercise 7 - Reachable workspace for a two-link planar arm")

  FrontColor(92,92,92)   ;dark gray
  DrawingFont(UseFont(#font_Verdana))
  Locate(10,420)
  DrawText("Copyright © 2006 Serge Visser en Jos de Jong")

EndProcedure

Procedure UpdateScrollvariables()
  pos.f
 
  ;update theta1
  pos = GetGadgetState(#t1_scroll)
  pos = pos/#scroll_max * Pi
  theta1_ref = pos
  SetGadgetText(#t1_text, "Theta1 = "+StrF(theta1_ref/pi,2) + " * Pi")

  ;update theta2
  pos = GetGadgetState(#t2_scroll)
  pos = pos/#scroll_max * (1.5*Pi) - 0.5*Pi
  theta2_ref = pos
  SetGadgetText(#t2_text, "Theta2 = "+StrF(theta2_ref/pi,2) + " * Pi")

EndProcedure

Procedure UpdateScrollBar()
; update the scrollbar positions with given theta1_ref and theta2_ref

  ;update theta1
  theta1_ref = theta1
  SetGadgetState(#t1_scroll, Int(#scroll_max * theta1_ref/pi))

  ;update theta2
  theta2_ref = theta2
  SetGadgetState(#t2_scroll, Int(#scroll_max * (theta2_ref+0.5*pi)/(1.5*pi)))

EndProcedure

; Create the window
CreateWindow()
UpdateScrollvariables()
SetTimer_(WindowID(), #timerID, #refreshinterval, 0)    ; start a timer

;-Eventhandler
;{
Repeat
  WhichEvent = WaitWindowEvent()  ;Wait for an Event
  WhichWindow = EventWindowID()   ;Number of Window which fires the event
  WhichGadget = EventGadgetID()   ;Is an Gadget used ?
  WhichEventType = EventType()    ;The event type
 
  If WhichWindow = #winmain
    Select WhichEvent
      Case #PB_EventGadget
        Select WhichGadget
          Case #start
            ; if user pressed the button "start animation" then start the animation
            PlayAnimation()
          Case #t1_scroll
            UpdateScrollvariables()
          Case #t2_scroll
            UpdateScrollvariables()
        EndSelect
   
      Case #PB_Event_CloseWindow
        ; quit the program
        KillTimer_(WindowID(), #timerID)
        End
               
      Case #WM_TIMER
        ; timer routine
        Select EventwParam()
          Case #timerID
            If animating = #FollowBorder
              ; go to the next animation position.
              ; stop the animation if the end is reached
              animpos = animpos + 1
              If animpos<=animcount
                ; get new positions for theta1 and theta2
                theta1 = animT12(animpos,0)
                theta2 = animT12(animpos,1)
              Else
                ; stop the animation if the end of the data is reached
                StopAnimation()
                UpdateScrollBar()
              EndIf
            EndIf
            If animating = #False Or animating = #GoToStartpoint Or animating = #Finished
              ;update position for link1
              If theta1_ref<>theta1
                theta1 = theta1 + delta * Abs(theta1_ref-theta1)/(theta1_ref-theta1)
                If Abs(theta1_ref-theta1) < delta
                  theta1 = theta1_ref
                EndIf
              EndIf
             
              ;update position for link2
              If theta2_ref<>theta2
                theta2 = theta2 + delta * Abs(theta2_ref-theta2)/(theta2_ref-theta2)
                If Abs(theta2_ref-theta2) < delta
                  theta2 = theta2_ref
                EndIf
              EndIf
            EndIf
            If animating = #GoToStartpoint
              If theta1_ref=theta1 And theta2_ref=theta2
                ;startpoint for the animation is reached.
                animating = #FollowBorder
              EndIf
            EndIf

            ; repaint the arm
            ClearScreen(255,255,255)      ;empty the paint window
            If StartDrawing(ScreenOutput())
              PaintText()
              If animating=#FollowBorder Or animating=#Finished
                PaintWorkarea()           ;paint the workarea
              EndIf
              Paint2Link()
             
              StopDrawing()
            EndIf           
            FlipBuffers()
        EndSelect
               
    EndSelect
  EndIf
 
ForEver
;}

Code : Tout sélectionner

Global inc_ile.b

inc_ile.b=52

Procedure test() 
  PokeB(@inc_ile,PeekB(@inc_ile)+1)
EndProcedure

OpenConsole()
PrintN("inc_ile= "+StrU(inc_ile,#Byte)+" ## @inc_ile= "+Str(@inc_ile)+" ## peek(inc_ile)= "+Str(PeekB(@inc_ile)))

test()
PrintN("inc_ile= "+StrU(inc_ile,#Byte)+" ## @inc_ile= "+Str(@inc_ile)+" ## peek(inc_ile)= "+Str(PeekB(@inc_ile)))

inc_ile=inc_ile+3
PrintN("inc_ile= "+StrU(inc_ile,#Byte)+" ## @inc_ile= "+Str(@inc_ile)+" ## peek(inc_ile)= "+Str(PeekB(@inc_ile)))

Input()